Estimation of vehicle sideslip angle and tire-road friction coefficient based on magnetometer with GPS

  • J.-H. Yoon
  • S. Eben Li
  • C. Ahn


This paper presents a method that estimates the vehicle sideslip angle and a tire-road friction coefficient by combining measurements of a magnetometer, a global positioning system (GPS), and an inertial measurement unit (IMU). The estimation algorithm is based on a cascade structure consisting of a sensor fusing framework based on Kalman filters. Several signal conditioning techniques are used to mitigate issues related to different signal characteristics, such as latency and disturbances. The estimated sideslip angle information and a brush tire model are fused in a Kalman filter framework to estimate the tire-road friction coefficient. The performance and practical feasibility of the proposed approach were evaluated through several tests.

Key words

GPS Kalman filter Magnetometer Sideslip angle Tire-road friction coefficient 


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.System and Control DesignTRW AutomotiveLivoniaUSA
  2. 2.State Key Lab of Automotive Safety and EnergyTsinghua UniversityBeijingChina
  3. 3.School of Mechanical EngineeringPusan National UniversityBusanKorea

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