An improved side-slip estimation algorithm based on ultra-local model technique for autonomous vehicles

Fényes, Dániel and Hegedűs, Tamás and Németh, Balázs and Van, Tan Vu and Gáspár, Péter (2024) An improved side-slip estimation algorithm based on ultra-local model technique for autonomous vehicles. In: 2024 10th International Conference on Control, Decision and Information Technologies, 1-4 July 2024, Valetta, Malta. (In Press)

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Abstract

The paper presents a novel observer design method for estimating the front and rear wheel slips of the vehicle. The proposed observer design technique consists of two parts: A simple linear observer algorithm, which uses a reformulated lateral vehicle model to estimate the tire slips. The second part is based on an ultra-local model. The main goal of the ultra-local model is to eliminate the nonlinear, unmodeled, uncertain dynamics of the lateral vehicle model. In this way, the performance level of the linear observer can be significantly increased especially under critical circumstances such as high lateral acceleration maneuvers or driving on a low μ surface. The proposed observer algorithm is implemented in MATLAB/Simulink environment connected to the highfidelity simulation software, CarMaker. The operation and the effectiveness of the proposed observer are demonstrated through several simulation examples.

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