A Literature Survey on Sideslip Angle Estimation Using Vehicle Dynamics Based Methods

Abstract

The vehicle sideslip angle or lateral velocity is a measure both for driving stability and for occupant’s subjective perception of safety. With the introduction of vehicle dynamics control systems and automated driving functions, knowledge of this vehicle motion state is required for many control strategies. This article gives an overview on the state of the art on sideslip angle estimation. In contrast to other literature studies on this topic, it focuses on vehicle dynamics based algorithms. The following types of observers are discussed: Kalman Filter-type, recursive least squares (RLS), sliding mode observers (SMO) or nonlinear observers (NLO). Eventually, cascaded observers are used that first estimate some states, which then act as input to the sideslip angle estimator. Since the choice of an observer strategy always depends on the application, this article provides a brief insight into the work of selected research groups that have studied the topic. These examples will help to clarify the presence of many different approaches in the literature. A detailed discussion on vehicle and tire models is not included but referenced to other sources. Finally, this article provides recommendations for two main target groups: First, researchers and engineers that plan to design an algorithm for sideslip angle estimation using deterministic vehicle dynamics based approaches. Second, researchers and engineers planning to include an existing algorithm in an automated driving function that want to learn about advantages and limitations of these types of algorithms.

Keywords

• Lateral velocity estimation
• literature survey
• slip angle estimation
• side-slip angle estimation
• sideslip angle estimation
• state estimation