VEHICLE SIDESLIP ANGLE ESTIMATION SYSTEM AND METHOD

摘要

A vehicle sideslip estimation system (10) and method is disclosed. The system (10) a vehicle (12) including a controlled area network (CAN) bus system (16); sensors (18) mounted on the vehicle (12) in communication with the CAN bus system (16); a kinematic model (28) in communication with the CAN bus system (16), the kinematic model (28) being configured for receiving signals from the sensors (18) as inputs, wherein the kinematic model (28) is configured for estimating a lateral velocity of the vehicle (12) based on the inputs, the inputs including a measured vehicle lateral acceleration and a vehicle longitudinal velocity; a compensated acceleration calculator (32) in communication with the CAN bus system (16) to calculate a compensated vehicle lateral acceleration as a measure of conditions that result in a deviation of the measured vehicle lateral acceleration; a lateral acceleration calculator (34) in communication with the CAN bus system (16) to determine, based on the compensated vehicle lateral acceleration and the measured vehicle lateral acceleration, if a lateral acceleration error is larger than a predefined threshold; a filter (40) in communication with the CAN bus system (16) to correct the estimated lateral velocity of the vehicle (12) when the lateral acceleration error is larger than the predefined threshold; a velocity output register (42) in communication with the CAN bus system (16) to register the estimated lateral velocity of the vehicle (12) when the lateral acceleration error is smaller than or equal to the predefined threshold; and a sideslip calculator (44) in communication with the CAN bus system (16) to calculate a sideslip angle of the vehicle (12) in real time from the registered lateral velocity of the vehicle and the vehicle longitudinal velocity.