Vehicle sideslip angle estimation using nonlinear parameter-varying observers

This paper proposes a new method for estimating the vehicle sideslip angle based on a nonlinear parameter-varying observer (NPVO) using low-cost (LC) sensor measurements like LC- inertial measurements units (IMU), LC-GPS with precise point positioning (PPP) algorithm and also some on-board vehicle sensors. The proposed method is based on the nonlinear bicycle model and on a nonlinear tire model. The variation of the longitudinal velocity and acceleration in the model are considered in this work. A nonlinear parameter-varying observer is applied for estimating the model states taking into account the variability of some parameters. The performance of the proposed approach is illustrated through real data acquired with an experimental vehicle.