New adaptive approaches to real-time estimation of vehicle sideslip angle

This paper presents new approaches to the identification of the vehicle sideslip angle and the road bank angle in real-time. The major challenge is that the vehicle sideslip angle and the road bank angle are coupled together with the system uncertainties, such as variations in the vehicle parameters and the tire cornering stiffness. To resolve this difficulty, the proposed estimation algorithms identify the uncertain vehicle parameters using the sensor measurements such as the steering angle, the lateral acceleration and the yaw rate, and then estimate the vehicle sideslip angle and the road bank angle via a simple algebraic relationship in real time. In particular, the use of the lateral G sensor signal makes it possible to identify the cornering stiffness and vehicle sideslip angle without any a priori knowledge on the road bank angle. The performance of the proposed algorithms is verified through simulation and experimental results.