关键词: 车辆质心侧偏角, 时变轮胎侧偏刚度, 容积卡尔曼滤波, 鲁棒性

Abstract: Vehicle sideslip angle (VSA) is one kind of crucial information for some vehicle active safety control systems, such as electronic stabilization program (ESP), adaptive cruise control(ACC) and lane keeping assist(LKA). However, it is hard to directly measure the VSA on mass-produced cars for the limitation of cost. This paper proposes a robust estimation scheme for the VSA including time-varying tire cornering stiffness. Firstly, for the signal mutations existing in on-board low-cost inertial measurement unit, a credibility judgement approach is established based on the information of steering wheel angle and longitudinal velocity. By means of this approach, the unreliable output values in the measurement signals of yaw rate and lateral acceleration can be detected and replaced effectively. Secondly, for the time-varying tire cornering stiffness hard to be accurately represented in nonlinear region, a calculation method is designed based on the lateral acceleration information. Using this method, the tire cornering stiffness can be acquired to meet its dynamic characteristic well. Finally, on the premise that the measurement signals of yaw rate and lateral acceleration are reliable and the tire dynamic modeling is accurate, a cubature Kalman filter is employed to iteratively determine the robust VSA. Numerical verification results show that utilizing the proposed VSA estimation scheme can achieve obvious superior performance of accuracy and robustness as compared with the contrast one.