Abstract
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of high costs and other associated impracticalities. This paper presents a novel framework for estimation of the vehicle sideslip angle. The proposed algorithm utilizes an adaptive tire model in conjunction with a model-based observer. The proposed adaptive tire model is capable of coping with changes to the tire operating conditions. More specifically, extensions have been made to Pacejka’s Magic Formula expressions for the tire cornering stiffness and peak grip level. These model extensions account for variations in the tire inflation pressure, load, tread depth and temperature. The vehicle sideslip estimation algorithm is evaluated through experimental tests done on a rear wheel drive (RWD) vehicle. Detailed experimental results show that the developed system can reliably estimate the vehicle sideslip angle during both steady state and transient maneuvers.
Highlights
Precise information about critical tire–vehicle dynamic states is vital for the effective execution of vehicle control systems
Accurate knowledge of the tire cornering stiffness is crucial for ensuring good estimates of vehicle sideslip angle using model-based observers
The section of this paper presents details about an improved Magic Formula (MF) tire model adapted to cope with changes in the tire operating conditions
Summary
Precise information about critical tire–vehicle dynamic states is vital for the effective execution of vehicle control systems. The observer is prone to due drifttodue bias errors the accelerometer and gyroscope This is the lateral acceleration signal (ay) being compensated for by the vehicle body roll angle (θ). Accurate knowledge of the tire cornering stiffness is crucial for ensuring good estimates of vehicle sideslip angle using model-based observers. Formula tire model [15] to pressure, temperature, load isand only restricted transient maneuvers It does not give satisfactory results during a steady state tread depth to simultaneously. The contents of this paper are organized as follows: Section 2 presents experimental results quantifying the influence of tire inflation pressure, tread depth, load, and temperature on the tire cornering stiffness.
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