Estimation of Intelligent Commercial Vehicle Sideslip Angle Based on Steering Torque

The sideslip angle is crucial for the lateral stability state and stability control of intelligent commercial vehicles. However, sensors that can be used for direct measurements are often complex, expensive, and difficult to install in commercial vehicles. To estimate the vehicle sideslip angle, a state observer derived from the extended Kalman filter (EKF) method is proposed, and the state observer is estimated based on steering torque rather than steering angle. The transfer functions between the sideslip angle–steering torque and sideslip angle–steering angle are established, respectively, and the analysis shows that the steering torque signal has a more rapid and more direct reaction due to the hydraulic pressure in the steering system. Finally, the proposed method is validated using Simulink/TruckSim simulation hardware-in-the-loop bench test, and the results show that the proposed method can accurately reflect the actual state of the sideslip angle with good reliability and effectiveness.