파라미터 최적화를 이용한 Open-loop Side-slip Angle 추정기 개발

Abstract

Lateral motion information like the yaw rate, lateral acceleration, and side-slip angle is closely related to the vehicle steering characteristics, and their measurement is very important in the development of a vehicle stability control algorithm. Factors other than the side-slip angle can be easily measured with a sensor like an IMU(inertial measurement unit), but in the case of the side-slip angle, expensive equipment like an optical sensor is required to measure it. Therefore, various side-slip angle estimation techniques are used in place of the sensor. This paper proposes an open-loop side-slip angle estimation algorithm through parameter optimization. The proposed algorithm derives the parameters based on the real- vehicle measurement data, and it shows a strong real-time performance and robustness. The unconstrained nonlinear optimizer of MATLAB was used, and the performance of the proposed method was verified through real- vehicle experiments.