Adaptive Design of Body Slip Angle Estimation for Electric Vehicle Stability Control

This paper proposes an adaptive slip angle observer for electric vehicle stability control by combining the model-based observer with the kinematic approaches, based on Kalman filer algorithm. With this method, the author tries to combine the kinematic estimation (integration estimation) with the on-line cornering stiffness identification. The influence of sensor bias on the integration results can be minimized, by resetting the integration value when getting to the steady states by the model-based observer. On the other hand, the body slip angle estimated through the kinematic approach during transient maneuvers is used to correct tire cornering stiffness in order to take into account changes in tires' properties.