Sideslip angle estimation and active front steering system based on lateral acceleration data at centers of percussion with respect to front/rear wheels

Abstract

This paper proposes an estimation method for sideslip angle. It identifies the cornering power parameters of front/rear tires based on lateral acceleration data at the centers of percussion with respect to rear/front wheels, and estimates the sideslip angle by using the identified cornering power parameters and an approximate mathematical tire model. Furthermore, an active front steering system, which considers explicitly the estimation error caused by a lateral disturbance, is proposed, and mathematical simulations demonstrate the effectiveness of the system.