State estimation of vehicle´s lateral dynamics using unscented Kalman filter

In order to improve vehicle´s active safety systems accurate knowledge about the vehicle´s driving stability is necessary. Especially the exact determination of the side-slip angle can be of great importance, since it has major potential for improving current control algorithms. Therefore, a model-based methodology for online estimation of vehicle´s lateral dynamics is presented, while generalizations of the Kalman Filter algorithm, the Extended and Unscented Kalman Filters are used due to the highly non-linear model behavior. The results of the introduced methodologies are presented for two different driving maneuvers and validated comparing to measurements taken with a VW Golf GTI. Furthermore, a qualitative comparison between Extended and Unscented Kalman Filter is realized.