Evaluation of Sliding Mode Observer for Vehicle Sideslip Angle
| Authors: | Stéphant Joanny, Heudiasyc Laboratory UMR CNRS-UTC 6599, France, Metropolitan
Charara Ali, Heudiasyc Laboratory UMR CNRS-UTC 6599, France, Metropolitan
Meizel Dominique, ENSIL - GERME, France, Metropolitan |
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| Topic: | 7.5 Intelligent Autonomous Vehicles |
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| Session: | Intelligent Autonomous Vehicles |
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| Keywords: | Vehicle dynamics, Nonlinear systems, State observers, Observability |
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Abstract
Vehicle sideslip angle is the principal variable used in computing the transversal forces governing tire/road contact. It is the most important variable determining a vehicle's lateral stability. This paper presents a sliding mode observer of vehicle sideslip angle. A model is developed and then simplified. The observer was tested on a validated simulator and on experimental data acquired using a real vehicle. A "Correvit" optical speed sensor was used to measure the sideslip angle. We discuss the limitations of using a nonlinear vehicle model with linear transversal forces. This paper also presents the relation between nonlinear observability and certain vehicle parameters.
