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Sideslip angle estimation considering short-duration longitudinal velocity variation

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Abstract

The accurate estimation of sideslip angle is necessary for many vehicle control systems. The detection of sliding and skidding is especially critical in emergency situations. In this paper, a sideslip angle estimation method is proposed that considers severe longitudinal velocity variation over the short period of time during which a vehicle may lose stability due to sliding or spinning. An extended Kalman filter (EKF) based on a kinematic model of a vehicle is used without initialization of the inertial measurement unit to estimate vehicle longitudinal velocity. A dynamic compensation method that compensates for the difference in the locations of the vehicle velocity sensor and the IMU in on-road vehicle tests is proposed. Evaluations with a CarSim™ 27-degree-of-freedom (DOF) model for various vehicle test scenarios and with on-road tests using a real vehicle show that the proposed sideslip angle estimation method can accurately predict sideslip angle, even when vehicle longitudinal velocity changes significantly.

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Authors and Affiliations

  1. School of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, 500-172, Korea

    H. H. Kim & J. Ryu

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  1. H. H. Kim
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  2. J. Ryu
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Correspondence to H. H. Kim.

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Kim, H.H., Ryu, J. Sideslip angle estimation considering short-duration longitudinal velocity variation. Int.J Automot. Technol. 12, 545–553 (2011). https://doi.org/10.1007/s12239-011-0064-2

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  • DOI: https://doi.org/10.1007/s12239-011-0064-2

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