Abstract:

A novel method of vehicle sideslip angle estimation was proposed based on a fusion of kinematics
and dynamics methods to improve the estimation accuracy. A sideslip angle fusion observer (SAFO) was
constructed with three local filters to estimate lateral velocities sending preliminary output to a master filter. The
master filter fuses the outputs from all local filters to calculate a global sideslip angle estimation result according
to driving information and fusion rules. The results show that the SAFO has good estimation accuracy and
stability in a long time running with good robust for sensor signal bias. Therefore, the vehicle test data verifies
the SAFO performances.

Key words: vehicle safety, sideslip angle estimation, kinematics method, dynamics method, fusion observer, pseudo-integration