Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction

Files

Main article (2.53 MB)
Downloads: 2404

TR Number

Date

2010

Journal Title

Journal ISSN

Volume Title

Publisher

Hindawi Publishing Corporation

Abstract

A recursive least square (RLS) algorithm for estimation of vehicle sideslip angle and road friction coefficient is proposed. The algorithm uses the information from sensors onboard vehicle and control inputs from the control logic and is intended to provide the essential information for active safety systems such as active steering, direct yaw moment control, or their combination. Based on a simple two-degree-of-freedom (DOF) vehicle model, the algorithm minimizes the squared errors between estimated lateral acceleration and yaw acceleration of the vehicle and their measured values. The algorithm also utilizes available control inputs such as active steering angle and wheel brake torques. The proposed algorithm is evaluated using an 8-DOF full vehicle simulation model including all essential nonlinearities and an integrated active front steering and direct yaw moment control on dry and slippery roads.

Description

Keywords

Emergency braking control, Model, Identification, Engineering, multidisciplinary, Mathematics, interdisciplinary, Applications

Citation

Nenggen Ding and Saied Taheri, "Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction," Mathematical Problems in Engineering, vol. 2010, Article ID 541809, 18 pages, 2010. doi:10.1155/2010/541809