Estimation and Simulation Analysis of the Sideslip Angle of Intelligent Vehicle under Unstructured Road Environment

Abstract

Vehicle sideslip angle is one of the important variables to describe the vehicle's lateral motion state, and it is also difficult to estimate accurately. In order to solve the difficult problem of direct measurement of intelligent vehicle sideslip angle in unstructured road environment, a 3-DOF vehicle Dynamics model was established, Carsim and Matlab were also used to construct the parametric model of vehicle. Based on the extended Kalman filter (EKF) algorithm, the State observer was used to estimate the sideslip angle of the intelligent vehicle. In the case of emergency shift, the estimation effect of State observer is verified by joint simulation. The simulation results show that the proposed method can accurately estimate the sideslip angle of the intelligent vehicle.