Estimation of Vehicle Yaw Rate and Side Slip Angle using Moving Horizon Strategy

Abstract

The accurate measurements of vehicle yaw rate and side slip angle are vital for vehicle dynamics control. Generally vehicle yaw rate is measured by gyro that will cost too much to be used commercially as an on-vehicle sensor. A moving horizon estimation (MHE) approach to vehicle yaw rate and side slip angle estimation is presented in this paper. The proposed method is an optimal strategy that explicitly allows for inequality constraints in vehicle dynamics. The simulation results show that the accurate estimate of the vehicle yaw rate and side slip angle can be obtained under corrupted sensor noise. Additional, the MHE strategy proposed here can handle the constraints effectively and avoid the fallacious estimate results.