Authors: D W Pi N Chen J X Wang B J Zhang
Publish Date: 2011/05/15
Volume: 12, Issue: 3, Pages: 391-
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 modelbased method and kinematicsbased 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 singletrack vehicle model associated with a tire model The cornering stiffness identifier is introduced to compensate for tire force nonlinearities A fuzzylogic 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 modelbased method and kinematicsbased 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 modelbased method and kinematicsbased method when the vehicle is subjected to severe maneuvers under different road conditions
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