Vision based multi-rate estimation and control of body slip angle for electric vehicles

A fusion methodology for sideslip angle estimation on the basis of kinematics-based and model-based approaches

“…1 Due to the high cost for the direct measurement of sideslip angle in production vehicles, online estimation methods using low-cost sensors have been widely studied in the automotive research. 2 Over the last few decades, many researches have been carried out for sideslip angle estimation, which can be classified into the following categories: direct integration method, 3 state observation method based on vehicle dynamics model, [4][5][6] neural network method, 7,8 estimation based on Global Positioning System (GPS)/Inertial Navigation System (INS) information, [9][10][11] estimation based on optical information, 12,13 and so on. Among these methods, the kinematic method (or direct integration method) and state observation method based on the vehicle dynamics model are widely used for the convenience and low cost.…”