Cross-combined UKF for vehicle sideslip angle estimation with a modified Dugoff tire model: design and experimental results

VILLANO, Elvis, LENZO, Basilio and SAKHNEVYCH, Aleksandr (2021). Cross-combined UKF for vehicle sideslip angle estimation with a modified Dugoff tire model: design and experimental results. Meccanica, 56 (11), 2653-2668.

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Official URL: https://link.springer.com/article/10.1007%2Fs11012...
Open Access URL: https://link.springer.com/content/pdf/10.1007/s110... (Published version)
Link to published version:: https://doi.org/10.1007/s11012-021-01403-6
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    Abstract

    Abstract: The knowledge of key vehicle states is crucial to guarantee adequate safety levels for modern passenger cars, for which active safety control systems are lifesavers. In this regard, vehicle sideslip angle is a pivotal state for the characterization of lateral vehicle behavior. However, measuring sideslip angle is expensive and unpractical, which has led to many years of research on techniques to estimate it instead. This paper presents a novel method to estimate vehicle sideslip angle, with an innovative combination of a kinematic-based approach and a dynamic-based approach: part of the output of the kinematic-based approach is fed as input to the dynamic-based approach, and vice-versa. The dynamic-based approach exploits an Unscented Kalman Filter (UKF) with a double-track vehicle model and a modified Dugoff tire model, that is simple yet ensures accuracy similar to the well-known Magic Formula. The proposed method is successfully assessed on a large amount of experimental data obtained on different race tracks, and compared with a traditional approach presented in the literature. Results show that the sideslip angle is estimated with an average error of 0.5 deg, and that the implemented cross-combination allows to further improve the estimation of the vehicle longitudinal velocity compared to current state-of-the-art techniques, with interesting perspectives for future onboard implementation.

    Item Type: Article
    Additional Information: ** From Springer Nature via Jisc Publications Router ** Licence for this article: http://creativecommons.org/licenses/by/4.0/ **Journal IDs: pissn 0025-6455; eissn 1572-9648 **Article IDs: publisher-id: s11012-021-01403-6; manuscript: 1403 **History: published 11-2021; online 08-09-2021; published 08-09-2021; registration 26-06-2021; accepted 06-06-2021; submitted 27-12-2020
    Uncontrolled Keywords: Article, Vehicle dynamics, Tire modeling, Sideslip angle, Kalman filter, Experiments
    Identification Number: https://doi.org/10.1007/s11012-021-01403-6
    Page Range: 2653-2668
    SWORD Depositor: Colin Knott
    Depositing User: Colin Knott
    Date Deposited: 05 Nov 2021 16:05
    Last Modified: 05 Nov 2021 16:05
    URI: http://shura.shu.ac.uk/id/eprint/29265

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