Slip Angle Estimation: Development and Experimental Evaluation

Abstract

This paper develops a slip angle estimation method using measurements of lateral acceleration and yaw rate. A unique model for slip angle estimation is developed by combining velocity kinematics, yaw dynamics, and lateral translational dynamics, so as to avoid sensor drift and parameter variation effect. The model is used in designing a state estimator to estimate slip angle, which compensates slip angle prediction error using the measurements of lateral acceleration and yaw rate. Experimental performance verification of the proposed slip angle estimation scheme is presented.