State estimation of vehicle's lateral dynamics using unscented Kalman filter

Abstract

In order to improve vehicle's active safety systems accurate knowledge about the vehicle's driving stability is necessary. Especially the exact determination of the side-slip angle can be of great importance, since it has major potential for improving current control algorithms. Therefore, a model-based methodology for online estimation of vehicle's lateral dynamics is presented, while generalizations of the Kalman Filter algorithm, the Extended and Unscented Kalman Filters are used due to the highly non-linear model behavior. The results of the introduced methodologies are presented for two different driving maneuvers and validated comparing to measurements taken with a VW Golf GTI. Furthermore, a qualitative comparison between Extended and Unscented Kalman Filter is realized.