Sideslip Angle Estimation Using a Kinematics Based Unscented Kalman Filter and Digital Image Correlation

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.

[1]  Rudolph van der Merwe,et al.  The unscented Kalman filter for nonlinear estimation , 2000, Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373).

[2]  Hyeongcheol Lee,et al.  Vehicle sideslip estimation and compensation for banked road , 2016 .

[3]  Theunis R. Botha,et al.  Vehicle Sideslip Estimation Using Unscented Kalman Filter, AHRS and GPS , 2012 .

[4]  Kyongsu Yi,et al.  Design and evaluation of side slip angle-based vehicle stability control scheme on a virtual test track , 2006, IEEE Transactions on Control Systems Technology.

[5]  Theunis R. Botha,et al.  Digital image correlation techniques for measuring tyre-road interface parameters : Part 1 - Side-slip angle measurement on rough terrain , 2015 .

[6]  Ali Charara,et al.  Estimation of vehicle sideslip, tire force and wheel cornering stiffness , 2009 .

[7]  Giulio Panzani,et al.  Vehicle sideslip estimation: A kinematic based approach , 2017 .

[8]  Bo-Chiuan Chen,et al.  Sideslip angle estimation using extended Kalman filter , 2008 .

[9]  Theunis R. Botha,et al.  Real-time side-slip angle measurements using digital image correlation , 2019 .

[10]  C. Cook,et al.  The European Parliament , 1990 .

[11]  David M. Bevly,et al.  Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness , 2006, IEEE Transactions on Intelligent Transportation Systems.

[12]  Rajesh Rajamani,et al.  Electronic Stability Control , 2012 .

[13]  R. Anderson,et al.  Estimation of slip angles using a model based estimator and GPS , 2004, Proceedings of the 2004 American Control Conference.