Cornering Stiffness and Sideslip Angle Estimation for Integrated Vehicle Dynamics Control

A sideslip estimator based on extended Kalman filtering that solves the ESC differentiability problem of a banked corner or a fast growing sideslip angle is presented. That means the proposed approach can handle banked corners and varying friction coefficients only with ESC sensor setup nearly without heuristics. To aid a new approach of integrated vehicle dynamics control the algorithm can estimate axle cornering stiffnesses at the front and the rear axle. The estimator is validated with 262 test drives that include driving on a race track at physical limits, drifting with large sideslip angles, spin outs as well as driving on different low friction surfaces and banked corner angles up to 50%. The parameter adaption is validated with test drives and different tires on country roads and on race track.