Vehicle side-slip angle estimation based on Uni-Tire model
基于Uni-Tire轮胎模型的车辆质心侧偏角估计

A nonlinear full-order observer is proposed for vehicle side-slip angle estimation to improve the accuracy and the real-time performance of the side-slip angle estimation. The longitudinal velocity, lateral velocity and yaw rate of the vehicle are estimated by the observer using the information of vehicle states which are measured by on-board sensors based on the vehicle dynamic model and Uni-Tire model for longitudinal slip and lateral slip, and then, the estimates of the side-slip angle are determined based on the above results. The stability of the observer is analyzed using the theory of input-to-state stability(ISS). The offline estimation result is validated using the vehicle simulation software veDYNA with the parameters of Hongqi CA7180A3E in critical condition; the real-time performance of the full-order nonlinear observer is tested on the simulation platform using the xPC-Target simulation environment and dSPACE real-time system. The simulation results show that the nonlinear estimation method has high estimation precision, good real-time performance and satisfies the requirements of engineering application.