근사 타이어 및 횡방향 차량동역학 모델을 이용하는 사이드 슬립각 예측

Abstract

This paper develops a state estimator based side slip angle estimation, which involves approximate tire model, lateral dynamics model, and feedback of measurements. We developed the estimator using a special vehicle lateral dynamics model by the approximation of the roll motion of a vehicle. In this paper, we will present how to design the estimator. Experimental evaluation was conducted to demonstrate its performance. Some performance comparisons with RT3000 and Carsim are to be persented.