Abstract
Recently, some direct yaw-moment control systems have been in development. Obviously, such systems need accurate slip-angle information. This paper describes a strategy of vehicle slip angle estimation. The difficulty in slip angle estimation is due to nonlinear characteristics of tyres and influence of relative slant of the road surface. To solve this difficulty, a combined method of model observer and direct integration method is proposed. In this method, two kind of values of the side forces of the wheels are provided, i.e. direct detected values by the G-sensor and values from a tyre model. Then those values are combined appropriately which results in the combination of model observer and direct integration. A feedback algorithm, redesigned to suppress the influence of tyre model error, is applied in the observer. Considering interference of road surface and it's avoidance, road slant angle is estimated and consequently vehicle model is corrected. The estimated value of the road friction coefficient is given by the acceleration, and an adequate bias, depending on yaw-deviation, is added. The calculation method of reference yaw-velocity is improved, in order to avoid interference of road slant and variation of dynamic characteristic of vehicle.