Estimation of Vehicle Sideslip Angle with Adaptation to Road Bank Angle and Roll Angle

摘要

The road bank angle and roll angle have direct influence on the vehicle's lateral motion. As a result, the accuracy of sideslip angle estimation can be improved through estimation of road bank angle and roll angle. In this paper, estimation of vehicle sideslip angle with adaptation to road bank angle and roll angle is achieved through a proposed Kalman filter at low cost based on the combination of dynamic model and kinematic model, which is developed from a three freedom model of lateral, yaw, and roll motion. Promising is the simulation results displayed in this paper.