Robust Estimation of Vehicle Sideslip Angle - An Approach w/o Vehicle and Tire Models

This paper describes an approach to estimate the sideslip angle of a vehicle based on a commercial Domain Control Unit (DCU) with integrated sensors for all 6 degrees of freedom of the vehicle body. The main advantage of the derived algorithms is the absence of vehicle and tire model equations and consequently the robustness with respect to model validity ranges, parameters and uncertainties. Computer simulations and driving tests show a high accuracy for the estimated Bryant angles, lateral and longitudinal velocities and the sideslip angle even during high-dynamic maneuvers. The authors will also focus on potential applications like vehicle stabilization by means of steering and braking interventions.