Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS

The accurate measurements of yaw angle and sideslip angle are essential for autonomous EV dynamics control. A novel lateral stability control method using onboard GPS receiver is proposed. With proposed Kalman filter, GPS measurement delay is revised and yaw angle and sideslip angle could be estimated efficiently. On the other hand, we choose model predictive control(MPC) as an advanced control method to deal with the constrained optimal tracking problem in autonomous driving. At last, simulation and experiment results verify the effectiveness of proposed control system.