A grey-box identification of an LPV vehicle model with side slip angle estimation

Based on a linear parameter varying (LPV) model of yaw-roll dynamics, which contains unknown parameters and time varying variables, an adaptive observer-based method is proposed for the estimation of the side slip angle of road vehicles. To estimate the unknown parameters of the model a grey-box identification method is proposed. Due to the possible changes in the adhesion coefficient during vehicle maneuvers this variable is introduced and estimated as a scheduling variable in the control-oriented LPV model. The estimation procedure is illustrated through a simulation example.