Estimation of Tire Slip Angle Using Interacting Multiple Bicycle Models Approach for Vehicle Stability Control 2019-01-0445

This paper presents an IMM (Interacting Multiple Model) based tire slip angle estimation method. Knowledge of the tire slip angle is essential enhancing vehicle handling and stability. For the estimation of the tire slip angles in previous researches, prior knowledge of tire parameters and road conditions have been employed, and sometimes additional sensors have been needed. These prior knowledge and additional sensors, however, necessitates many efforts and make an application of the estimation algorithm difficult. In this paper, tire slip angle has been estimated using on-board vehicle sensors such as yaw rate and lateral acceleration sensors. The proposed estimation algorithm integrates the estimates from multiple Kalman filters based on the multiple models with different parameter set. The IMM approach enables a tire slip angle estimation from originally equipped vehicle sensors without prior knowledge of tire and road. The proposed estimation algorithm is evaluated via vehicle tests. The results have shown that the proposed estimator can successfully estimate tire slip angles without any information on tire-road friction.