Development of the Estimation Method of Side Slip Angle

A control system for maintaining a vehicle stability needs its side slip angle which shows the vehicle attitude. In the system, the angle is estimated by using the vehicle model. Many estimation methods have been proposed, however, these precedented methods have defects which bring inaccurate result in the road surface coefficient change, the cant road, and the vehicle spin. We propose method of detecting such traveling conditions. Moreover these detection results are refered to the estimation method using vehicle model. The side slip angle is estimated with high accuracy. This paper reports a construction of the estimation method and the experimental results using an actual vehicle.