Design and evaluation of sideslip angle observer for vehicle stability control |
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Authors: | D W Pi N Chen J X Wang B J Zhang |
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Institution: | (1) Department of Electrical Engineering, University of Tokyo, Room Ce-503, 4-6-1 Komaba, Meguro Tokyo, 153-8505, Japan;(2) Institute of Industrial Science, University of Tokyo, Room Ce-501, 4-6-1 Komaba, Meguro Tokyo, 153-8505, Japan |
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Abstract: | This paper presents a method for estimating the vehicle side slip angle, which is considered as a significant signal in determining
the vehicle stability region in vehicle stability control systems. The proposed method combines the model-based method and
kinematics-based method. Side forces of the front and rear axles are provided as a weighted sum of directly calculated values
from a lateral acceleration sensor and a yaw rate sensor and from a tire model according to the nonlinear factor, which is
defined to identify the degree of nonlinearity of the vehicle state. Then, the side forces are fed to the extended Kalman
filter, which is designed based on the single-track vehicle model associated with a tire model. The cornering stiffness identifier
is introduced to compensate for tire force nonlinearities. A fuzzy-logic procedure is implemented to determine the nonlinear
factor from the input variables: yaw rate deviation from the reference value and lateral acceleration. The proposed observer
is compared with a model-based method and kinematics-based method. An 8 DOF vehicle model and Dugoff tire model are employed
to simulate the vehicle state in MATLAB/SIMULINK. The simulation results shows that the proposed method is more accurate than
the model-based method and kinematics-based method when the vehicle is subjected to severe maneuvers under different road
conditions. |
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