A real time observer of sideslip angle and lateral tire road forces with experimental validation

Lots of advanced driver assistance systems have been developed to improve the handling performance of the vehicle and the driving security. These systems use several sensors to realize the environment perception and the vehicle dynamics monitoring. we develop the algorithm to estimate these variables using standard sensors in our laboratory. This paper presents our laboratory vehicle and methodology of estimation of the wheel-ground forces. On considering the nonlinearity system, we propose the comparison between the Extended Kalman filter and Particle filter techniques. Particularly we construct our laboratory vehicle which has already equipped with varies of sensors and real-time sampling and processing system. The systems are tested by using our experiment car in real driving situation. The experiment results can demonstrate the performance of our theoretical research and the real-time processing system.