Estimation method of vehicle sideslip angle considering coupled longitudinal and lateral dynamics

The coupled longitudinal and lateral dynamics control plays an important role in improving the vehicle motion performance. It is very complex to describe the lateral tyre force with a coupled longitudinal and lateral dynamics, thus making it difficult to establish a lateral dynamics model and design a sideslip angle observer. In this paper, based on the piecewise affine (PWA) description of the lateral force, a novel lateral dynamics modelling method is proposed considering coupled longitudinal dynamics. Firstly, a nominal PWA model of the lateral force is established. Secondly, by regarding the slip ratio and the dynamic load as varying parameters, we obtain a novel PWA lateral dynamics model which can describe the influence of the slip ratio on the lateral dynamics. Finally, the switched T-S observer is presented. Simulation results show the effectiveness of the proposed PWA model and the designed observer.