This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Vehicle Sideslip Angle Estimation: A Review
Technical Paper
2018-01-0569
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
Vehicle sideslip angle estimation is of great importance to the vehicle stability control as it could not be measured directly by ordinary vehicle-mounted sensors. As a result, researchers worldwide have carried out comprehensive research in estimating the vehicle sideslip angle.
First, as the attitude would affect the acceleration information measured by the IMU directly, different kinds of vehicle attitude estimation methods with multi-sensor fusion are presented. Then, the estimation algorithms of the vehicle sideslip angle are classified into the following three aspects: kinematic model based method, dynamic model based method, and fusion method. The characteristics of different estimation algorithms are also discussed. Finally, the conclusion and development trend of the sideslip angle estimation are prospected.
Authors
Citation
Liu, W., Xiong, L., Xia, X., and Yu, Z., "Vehicle Sideslip Angle Estimation: A Review," SAE Technical Paper 2018-01-0569, 2018, https://doi.org/10.4271/2018-01-0569.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 | ||
Unnamed Dataset 2 |
Also In
References
- Zhang , B. , Du , H. , Lam , J. , Zhang , N. et al. A Novel Observer Design for Simultaneous Estimation of Vehicle Steering Angle and Sideslip Angle IEEE Transactions on Industrial Electronics 63 7 4357 4366 2016 10.1109/TIE.2016.2544244
- Wei , L. , Cappelle , C. , and Ruichek , Y. Camera/Laser/Gps Fusion Method for Vehicle Positioning under Extended Nis-Based Sensor Validation IEEE Transactions on Instrumentation & Measurement 62 11 3110 3122 2013 10.1109/TIM.2013.2265476
- Deng Z. Inertial Devices and Inertial Navigation System Science press 2012
- Qin Y. Inertial navigation. Edition 2 Science press 2014
- Liu , Y. , Noguchi , N. Ishii , K. Development of a low-cost imu by using sensor fusion for attitude angle estimation IFAC Proceedings Volumes 47 3 4435 4440
- Ren L. The Research on Typical Behavior Identification Method of Intelligent Vehicle Chang an University 2015
- Hwang , Y. , Seibum , C. GROUND VEHICLE ATTITUDE ESTIMATION THROUGH MAGNETIC-INERTIAL SENSOR FUSION FISITA 2016 word Automotive Congress Busan, Korea 2016
- Ayub , S. , Bahraminisaab , A. , and Honary , B. A Sensor Fusion Method for Smart Phone Orientation Estimation Contribution in Book/report/proceedings 2012
- Wang Y , Rajamani R Attitude Estimation With a 9-Axis MEMS Based Motion Tracking Sensor ASME 2016 Dynamic Systems and Control Conference 10.1115/DSCC2016-9700
- Lai , Y. and Jan , S. Attitude Estimation Based on Fusion of Gyroscopes and Single Antenna Gps for Small Uavs under the Influence of Vibration GPS Solutions 15 1 67 77 2011 10.1007/s10291-010-0171-y
- No , H. , Han , Y. , Song , H. , Kim , O. et al. Attitude Determination Method Using Single-Antenna Gps, Gyro and Magnetometer Korean Society for Aeronautical & Space Sciences 2012
- Khosravian , A. , Trumpf , J. , Mahony , R. , Hamel , T. Velocity aided attitude estimation on SO(3) with sensor delay Decision and Control (Vol.2015, pp.114-120). IEEE, 2015 2015
- Widodo , R.B. and Wada , C. Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations Journal of Sensors, (2016-8-7) 2016 10 1 24 2016 10.1155/2016/6943040
- Wu , Z. , Yao , M. , Ma , H. , Jia , W. et al. Low-Cost Antenna Attitude Estimation by Fusing Inertial Sensing and two-Antenna Gps for Vehicle-Mounted Satcom-on-the-Move IEEE Transactions on Vehicular Technology 62 3 1084 1096 2013 10.1109/TVT.2012.2229306
- Matthew C. , Timothy J. Real-time state estimation of vehicle handling dynamics using an adaptive kalman filter 5th International Symposium on Advanced Vehicle Control 1998 183 188
- Gao , B. , Chen , H. , Chen , W. , and Xu , F. Fusion Estimation of Vehicle Sideslip Angle Automotive Engineering 35 8 716 722 2013
- Wei , L. , Liu , W. , Ding , H. , Guo , K. Side-slip angle estimation for vehicle Electronic Stability Control based on sliding mode observer 2012 international conference on measurement, information and control 2 992 995 2012 10.1109/MIC.2012.6273468
- Selmanaj , D. , Corno , M. , Panzani , G. et al. Vehicle sideslip estimation: A kinematic based approach ☆ Control Engineering Practice 67 1 12 2017 10.1016/j.conengprac.2017.06.013
- Masao , N. The Perspectives of Research for Enhancing Active Safety Based on Advanced Control Technology Journal of Automotive Safety & Energy 45 5 413 431 2010
- Syed , U. H. , Vigliani , A. Vehicle Side Slip and Roll Angle Estimation SAE 2016 World Congress and Exhibition 2016 10.4271/2016-01-1654
- Jyotishman , G. , Andrea , T. , and Nicola , A. Sideslip angle estimation of a formula sae racing vehicle SAE Int. J. Passeng. Cars - Mech. Sys. 9 2 944 951 2016 10.4271/2016-01-1662
- Liu , F. , Xiong , L. , Wu , X. , and Wang , Y. Vehicle sideslip angle estimation and contrastive analysis Tongji Daxue Xuebao/journal of Tongji University 43 3 448 455 2015 10.11908/j.issn.0253-374x.2015.03.020
- Zheng , Z. , Xiong , L. , and Wang , Y. Simulation and Errors Analysis of Vehicle Sideslip Angle Algorithm Journal of Shanghai Jiaotong University 47 6 972 978 2013
- Guo , H. , Chen , H. , Cao , D. , and Jin , W. Design of a Reduced-Order Non-linear Observer for Vehicle Velocities Estimation Iet Control Theory & Applications 7 17 2056 2068 2013 10.1049/iet-cta.2013.0276
- Yih , P. , Ryu , J. , and Gerdes , J.C. Vehicle state estimation using steering torque American Control Conference, 2004. Proceedings of the. IEEE 3 2116 2121 2004
- Yih P. Steer-by-wire: Implication for vehicle handling and safety Poston Standford University 2004
- Ma , B. , Liu , Y. , Gao , Y. , Yang , Y. et al. Estimation of Vehicle Sideslip Angle Based on Steering Torque International Journal of Advanced Manufacturing Technology 94 3229 3237 2016 10.1007/s00170-016-9426-2
- Xiaojie , G. , Zhuoping , Y. , Jens , N. , and Jochen , W. Sideslip Angle Estimation Based on Input-Output Linearisation with Tire-Road Friction Adaptation Vehicle System Dynamics 48 2 217 234 2010 10.1080/00423110902721824
- Phanomchoeng , G. , Rajamani , R. , and Piyabongkarn , D. Nonlinear Observer for Bounded Jacobian Systems, with Applications to Automotive Slip Angle Estimation IEEE Transactions on Automatic Control 56 5 1163 1170 2011 10.1109/TAC.2011.2108552
- Geng , C. , Mostefai , L. , Denai , M. , and Hori , Y. Direct Yaw-Moment Control of an in-Wheel-Motored Electric Vehicle Based on Body Slip Angle Fuzzy Observer IEEE Transactions on Industrial Electronics 56 5 1411 1419 2009 10.1109/TIE.2009.2013737
- Gadola , M. , Chindamo , D. , Romano , M. , and Padula , F. Development and Validation of a Kalman Filter-Based Model for Vehicle Slip Angle Estimation Vehicle System Dynamics 52 1 68 84 2014 10.1080/00423114.2013.859281
- Jia , G. , Li , L. , and Cao , D. Model-Based Estimation for Vehicle Dynamics States at the Limit Handling Journal of Dynamic Systems Measurement & Control 137 10 104501 104508 2015 10.1115/1.4030784
- Doumiati , M. , Victorino , A.C. , Charara , A. , and Lechner , D. Onboard Real-Time Estimation of Vehicle Lateral Tire-Road Forces and Sideslip Angle IEEE/ASME Transactions on Mechatronics 16 4 601 614 2011 10.1109/TMECH.2010.2048118
- Stephant , J. , Charara , A. , and Meizel , D. Evaluation of a Sliding Mode Observer for Vehicle Sideslip Angle Control Engineering Practice 15 7 803 812 2007 10.1016/j.conengprac.2006.04.002
- You , S.H. , Hahn , J.O. , and Lee , H. New Adaptive Approaches to Real-Time Estimation of Vehicle Sideslip Angle Control Engineering Practice 17 12 1367 1379 2009 10.1016/j.conengprac.2009.07.002
- Du , H. , Lam , J. , Cheung , K. C. , Li , W. , et al. Side-Slip Angle Estimation and Stability Control for a Vehicle with a Non-linear tyre Model and a Varying Speed Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering 229 4 486 505 2015 10.1177/0954407014547239
- Chen , B. C. , Hsieh , F. C. Sideslip angle estimation using extended kalman filter Vehicle System Dynamics 46 353 364 2008 10.1080/00423110801958550
- Rattapon , C. , Takehiko , F. , and Masato , A. Sensitivity Analysis of Side-Slip Angle Observer Based on a Tire Model Vehicle System Dynamics 44 7 513 527 2006 10.1080/00423110500422312
- Piyabongkarn , D. , Rajamani , R. , Grogg , J.A. , and Lew , J.Y. Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control IEEE Transactions on Control Systems Technology 17 1 78 88 2009 10.1109/TCST.2008.922503
- Jiang , G. , Liu , L. , Guo , C. , Chen , J. , Muhammad F. , Miao X. A Novel Fusion Algorithm for Estimation of the Side-Slip Angle and the Roll Angle of a Vehicle with Optimized Key Parameters Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering 10.1177/0954407016644879 231 161 174
- Chen , J. , Song , J. , Li , L. , Jia , G. et al. Ukf-Based Adaptive Variable Structure Observer for Vehicle Sideslip with Dynamic Correction Iet Control Theory & Applications 10 14 1641 1652 2016 10.1049/iet-cta.2015.1030
- Li , L. , Jia , G. , Ran , X. , Song , J. , and Wu , K. A Variable Structure Extended Kalman Filter for Vehicle Sideslip Angle Estimation on a Low Friction Road Vehicle System Dynamics 52 2 280 308 2014 10.1080/00423114.2013.877148
- Cheng , S. , Li , L. , and Chen , J. Fusion algorithm design based on adaptive sckf and integral correction for side-slip angle observation IEEE Transactions on Industrial Electronics 99 1 1 2017 10.1109/TIE.2017.2774771
- Hrgetic , M. , Deur , J. , Pavkovic , D. , and Barber , P. Adaptive Ekf-Based Estimator of Sideslip Angle Using Fusion of Inertial Sensors and Gps SAE Int. J. Passeng. Cars - Mech. Sys 4 1 700 712 2011 10.4271/2011-01-0953
- Park , G. , Hwang , Y. , and Choi , S.B. Vehicle positioning based on velocity and heading angle observer using low-cost sensor fusion Journal of Dynamic Systems Measurement & Control 139 12 2017 10.1115/1.4036881
- Li , X. , Chan , C.Y. , and Wang , Y. A Reliable Fusion Methodology for Simultaneous Estimation of Vehicle Sideslip and Yaw Angles IEEE Transactions on Vehicular Technology 65 6 4440 4458 2016 10.1109/TVT.2015.2496969
- FedericoCheli , E.S. , Pesce , M. , and StefanoMelzi A Methodology for Vehicle Sideslip Angle Identification: Comparison with Experimental Data Vehicle System Dynamics 45 6 549 563 2007 10.1080/00423110601059112
- Bevly , D. M. , Sheridan , R. , Gerdes , J. C. Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness American Control Conference, 2001. Proceedings of the IEEE 1 25 30 2001 10.1109/ACC.2001.945508
- Bevly , D.M. , Ryu , J. , and Gerdes , J.C. Integrating Ins Sensors with Gps Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness IEEE Transactions on Intelligent Transportation Systems 7 4 483 493 2006 10.1109/TITS.2006.883110
- Bevly , D.M. , Christiangerdes , J. , and ChristopherWilson The Use of Gps Based Velocity Measurements for Measurement of Sideslip and Wheel Slip Vehicle System Dynamics 38 2 127 147 2002
- Anderson , R. , Bevly , D. M. Estimation of slip angles using a model based estimator and GPS American Control Conference, 2004. Proceedings of the. IEEE 3 2122 2127 2014
- Ryu , J. and Gerdes , J.C. Integrating Inertial Sensors with Global Positioning System (Gps) for Vehicle Dynamics Control Journal of Dynamic Systems Measurement & Control 126 2 243 254 2014 10.1115/1.1766026
- Yoon , J.H. and Peng , H. A Cost-Effective Sideslip Estimation Method Using Velocity Measurements from two Gps Receivers IEEE Transactions on Vehicular Technology 63 6 2589 2599 2014 10.1109/TVT.2013.2294717
- Yoon J. H. , Peng H. Vehicle Sideslip Angle Estimation Using two Single-Antenna GPS Receivers ASME Dynamic Systems and Control Conference 2010 863 870 2010 10.1115/DSCC2010-4249
- No , H. , Cho , A. , and Kee , C. Attitude Estimation Method for Small UAV under Accelerative Environment GPS Solution 19 343 355 2014 10.1007/s10291-014-0391-7
- Larsen , T.D. , Andersen , N.A. , Ravn , O. , Poulsen , N.K. Incorporation of time delayed measurements in a discrete-time Kalman filter IEEE Conference on Decision and Control, IEEE, 1998 3972 3977 4 1998 10.1109/CDC.1998.761918
- Khosravian , A. , Trumpf , J. , Hamel , T. , and Hamel , T. State Estimation for Invariant Systems on Lie Groups with Delayed Output Measurements Automatica 68 254 265 2016 10.1016/j.automatica.2016.01.024
- Rotstein H. P. Optimal Filtering with Delayed and Non-Delayed Measurements Proceedings of 15th IFAC World Congress 2002
- Choi , M. , Choi , J. , and Chung , W.K. State estimation with delayed measurements incorporating time-delay uncertainty Iet Control Theory & Applications 6 15 2351 2361 2013 10.1049/iet-cta.2010.0278
- Asadi , E. and Bottasso , C.L. Delayed Fusion for Real-Time Vision-Aided Inertial Navigation Journal of Real-Time Image Processing 10 4 633 646 2015 10.1007/s11554-013-0376-8
- Zhang , H. , Feng , G. , and Duan , G. H/sub /spl infin// Filtering for Multiple-Time-Delay Measurements IEEE Transactions on Signal Processing 54 5 1681 1688 2006 10.1109/TSP.2006.870585
- Nguyen , B.M. , Fujimoto , H. , and Hori , Y. Upper-Bound-Based State Estimation with Large-Time-Delay Measurement and its Applications to Motion Control IEEJ Journal of Industry Applications 5 4 303 313 2016 10.1541/ieejjia.5.303
- Cacace , F. , Germani , A. , Manes , C. A state observer for nonlinear systems with large and variable measurement delays IEEE Decision and Control 7010 7015 2015 0.1109/CDC.2015.7403324
- Cacace , F. , Conte , F. , Germani , A. , Palombo , G. Joint state estimation and delay identification for nonlinear systems with delayed measurements IEEE Transactions on Automatic Control 62 9 4848 4854 10.1109/TAC.2017.2689503
- Pan , Y. J. Robust Observer-Based Output Tracking Control of Nonlinear Systems with Sensor Measurement Delays IFAC Proceedings Volumes 41 2 2785 2790 2008 10.3182/20080706-5-KR-1001.1298
- Vafaei A. , Yazdanpanah M. Observer Design for a Class of Nonlinear Systems with Long Delay in Output Measurements: An LMI Approach Control Conference, IEEE 2014 762 766
- Yoon , J. H. , Peng , H. Sideslip Angle Estimation Based on GPS and Magnetometer Measurements International Symposium on Advanced Vehicle Control 2012
- Yoon , J.H. and Peng , H. Robust Vehicle Sideslip Angle Estimation through a Disturbance Rejection Filter that Integrates a Magnetometer with Gps IEEE Transactions on Intelligent Transportation Systems 15 1 191 204 2004 10.1109/TITS.2013.2275173
- Guldner , J. , Sienel , W. , Tan , H.S. , and Ackermann , J. Robust Automatic Steering Control for Look-down Reference Systems with Front and Rear Sensors IEEE Transactions on Control Systems Technology 7 1 2 11 1999 10.1109/87.736743
- Li , L. , Wang , F. Y. , Zhou , Q. A robust observer designed for vehicle lateral motion estimation Intelligent Vehicles Symposium, 2005. Proceedings, IEEE 417 422 2005
- Wang , Y. , Nguyen , B.M. , Fujimoto , H. , and Hori , Y. Vision-based integrated lateral control system for electric vehicles considering multi-rate and measurable uneven time delay issues IEEE International Symposium on Industrial Electronics. IEEE 1 6 2013
- Wang , Y. , Nguyen , B.M. , Fujimoto , H. , and Hori , Y. Multirate Estimation and Control of Body Slip Angle for Electric Vehicles Based on Onboard Vision System IEEE Transactions on Industrial Electronics 61 2 1133 1143 2014 10.1109/TIE.2013.2271596
- Li , W. , Shah , S. Data-driven Kalman filters for non-uniformly sampled multirate systems with application to fault diagnosis American Control Conference, 2005 Proceedings of the IEEE Xplore 4 2768 2774
- Ding , F. and Chen , T. Hierarchical identification of lifted state-space models for general dual-rate systems IEEE Transactions on Circuits & Systems I Regular Papers 52 6 1179 1187 2015 10.1109/TCSI.2005.849144
- Liu , A. , Zhang , W.A. , Chen , M.Z.Q. , and Yu , L. Moving horizon estimation for mobile robots with multi-rate sampling IEEE Transactions on Industrial Electronics 99 1 1 2017
- Shelav Jain 2014
- Madhusudhanan , A.K. , Corno , M. , and Holweg , E. Vehicle Sideslip Estimator Using Load Sensing Bearings Control Engineering Practice 54 46 57 2016 10.1016/j.conengprac.2016.05.008
- Nam , K. , Fujimoto , H. , and Hori , Y. Lateral Stability Control of in-Wheel-Motor-Driven Electric Vehicles Based on Sideslip Angle Estimation Using Lateral Tire Force Sensors IEEE Transactions on Vehicular Technology 61 5 1972 1985 2012 10.1109/TVT.2012.2191627
- Arat , M.A. , Singh , K.B. , and Taheri , S. An Intelligent tyre Based Adaptive Vehicle Stability Controller International Journal of Vehicle Design 65 2/3 118 143 2014 10.1504/IJVD.2014.060813