Estimation of Vehicle Sideslip Angle Based on Multi-information Fusion

Vehicle stability control system has been widely used in the cars.According to the vehicle stability control system,the yaw rate and the sideslip angle are very important parameters for vehicle stability control.Among them,the vehicle yaw rate can obtained by the yaw-rate sensor after Kalman filter,but the vehicle sideslip angle must be estimated.Vehicle sideslip angle estimator is built based on the 2 DOFs vehicle dynamic model.This estimator includes two parts: Kalman filter algorithm and dynamic integral algorithm.When the sideslip angle is small,the Kalman filter algorithm could be used in estimator.When the sideslip angle is large,the estimator switches to dynamic integral algorithm.The simulation model was built in software Vedyna.The simulation results show that the sideslip angle estimator can achieve the precise estimation results whether the vehicle is in linear area or in the nonlinear area.