Sideslip angle estimation using gps and disturbance accommodating multi-rate Kalman filter for electric vehicle stability control

This paper describes a new method of sideslip angle estimation for electric vehicle stability control system. Multi-rate Kalman filter is designed based on the measurements of yaw rate (updated every 1 ms) and course angle from GPS receiver (updated every 200 ms). By disturbance accommodating method, robust estimation of sideslip angle is achieved. Direct yaw moment generated by in-wheel motors´ torque is used to control both yaw rate and sideslip angle of electric vehicle. Experiments are conducted to verify the effectiveness of the proposal.