Vehicle side-slip angle estimation based on vehicle dynamics and nonlinear observers

Using the state parameters which is measured from on-board sensors directly and vehicle dynamics, the observer of longitudinal vehicle velocity is designed considering coriolis acceleration as disturbance. The nonlinear observer of lateral vehicle velocity is obtained when the longitudinal vehicle velocity estimation value is treated as input, and the estimation of side-slip angle is got at last. The input-to-state stability theory is introduced in order to analyze the stability of the nonlinear observer with disturbance input. The effectiveness of nonlinear estimation method for side-slip angle is validated using eight freedom degrees vehicle dynamic model, and the simulation results show that the estimation method has highly precision and can satisfy the requirement of engineering application.