TY  - JOUR
PY  - 2018//
TI  - Vehicle side-slip angle estimation on a banked and low-friction road
JO  - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of automobile engineering
A1  - Haudum, Martin
A1  - Edelmann, Johannes
A1  - Plöchl, Manfred
A1  - Höll, Manuel
SP  - 1584
EP  - 1596
VL  - 232
IS  - 12
N2  - The effective application of integrated vehicle dynamics control and automatic driving require consistent vehicle state variables and parameters. Considering lateral vehicle dynamics, the yaw rate and (estimated) vehicle side-slip angle are the minimum set of state variables that can give insight into the handling characteristics of a vehicle. Various methods of vehicle side-slip angle (lateral velocity) estimation have been tested in virtual and real world applications, in particular on a horizontal dry road. Vehicle side-slip angle, however, is not only affected by the (steering) commands of the driver, and possibly by a vehicle dynamics controller, but can also arise from a banked road or result from a low-friction surface, changing tyre-road contact. The combined effects require a comprehensive estimation approach, which is less often touched upon in the literature. Based on earlier findings on important aspects of observability, the paper addresses a modular vehicle side-slip angle estimation approach that is particularly focused upon practical aspects of modelling and design. Estimation of the combined vehicle side-slip angle, road bank angle and maximum tyre-road friction coefficient has been broadly tested with a vehicle equipped with an electronic stability control (ESC) and electric power-assisted steering (EPS) sensor configuration, for various road conditions, driving situations and vehicle/tyre setups.<p />  <p>Language: en</p>
LA  - en
SN  - 0954-4070
UR  - http://dx.doi.org/10.1177/0954407017732852
ID  - ref1
ER  -