Estimation of Side Slip Angle Interacting Multiple Bicycle Models Approach for Vehicle Stability Control

This paper presents an Interacting Multiple Model (IMM) based side slip angle estimation method to estimate side slip angle under various road conditions for vehicle stability control. Knowledge of the side slip angle is essential enhancing vehicle handling and stability. For the estimation of the side slip angles in previous researches, prior knowledge of tire parameters and road conditions have been employed, and sometimes additional sensors have been needed. These prior knowledge and additional sensors, however, necessitates many efforts and make an application of the estimation algorithm difficult. In this paper, side slip angle has been estimated using on-board vehicle sensors such as yaw rate and lateral acceleration sensors. The proposed estimation algorithm integrates the estimates from multiple Kalman filters based on the multiple models with different parameter set. The IMM approach enables a side slip angle estimation from originally equipped vehicle sensors without prior knowledge of tire and road. The proposed estimation algorithm is evaluated via vehicle tests in electronic control unit level. The results have shown that the proposed estimator can successfully estimate side slip angles without any information on tire-road friction.