Linear observers for vehicle sideslip angle : experimental validation

The lateral behavior of a vehicle is defined by the transversal forces between the road and the wheels. The sideslip angle is the principal variable for the transversal forces. This paper compares three observers (virtual sensors) of vehicle sideslip angle. Modeling, model simplification and observability analysis are performed. The different observers use sensors available on actual standard car: the yaw rate and the lateral acceleration. This study validate observers on simulated data from a recognized simulator Callas and on experimental data acquired on the Heudiasyc laboratory car. An optical speed sensor "Correvit" is used to acquire the sideslip angle. This paper shows that observers are more accurate than simple model and that the use of both sensors give the better estimation of sideslip angle.