Abstract
Vehicle sideslip is an important input parameter that can be used to improve vehicle stability control. The sideslip angle is seen as a measure of vehicle lateral stability. This paper presents an inexpensive sideslip angle measurement algorithm which incorporates direct measurements and a kinematics-based model for sideslip estimation. The estimation algorithm uses Digital Image Correlation (DIC), to directly measure sideslip with a real-time sparse optical flow algorithm, and an Unscented Kalman Filter (UKF) to remove drift from the kinematics-based estimator. The method smooths the direct measurements from the DIC and other sensors while being independent of vehicle geometry.
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Botes, W., Botha, T.R., Els, P.S. (2020). Sideslip Angle Estimation Using a Kinematics Based Unscented Kalman Filter and Digital Image Correlation. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_186
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DOI: https://doi.org/10.1007/978-3-030-38077-9_186
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