SIDESLIP ANGLE MEASUREMENT, EXPERIMENTAL CHARACTERIZATION AND EVALUATION OF THREE DIFFERENT PRINCIPLES

The knowledge of the sideslip angle is fundamental for control of the vehicle's lateral dynamics. In order to measure this angle, there are essentially three different principles: GPS/INS and optical correlation as used by available sensors and model-based techniques like observers. This paper focuses on the two following items. First, as the sensors are too expensive to be mounted on common vehicles, we investigate a low cost solution, based on two different observers, a common bicycle observer and a new observer including roll dynamics. Secondly, as the experimental validation phase of these observers needs the knowledge of reference measurements, we confront GPS/INS measurement principle and optical correlation, by characterization of two sensors: RT3002 and Correvit S400 in order to monitor their advantages and drawbacks. This characterization is carried out with a specific test bench and the different sideslip angle measurement solutions are compared with real tests performed with our laboratory experimental car.