Yiying Wei
ABSTRACT
An effective fusion strategy for the observation of the vehicle sideslip angle is proposed in this paper. This approach builds an estimation model based on vehicle dynamics by extended Kalman filter (EKF), and an estimation model based on vehicle kinematics by unscented Kalman filter (UKF). In this research, a correction module is developed to correct the vehicle kinematics-based model observer for the accumulated inaccuracies. Based on this, a frequency domain fusion strategy is presented by fusing the benefits of the two approaches. Finally, simulation utilising the Carsim and Simulink platform is used to confirm the proposed observation strategy. The simulation findings demonstrate that the method can maintain great precision and stability across a wide driving range and under various extreme operating circumstances.
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