Soft Computing for Vehicle Side Slip Angle Based on Kalman Filter

Abstract—To solve the problem that vehicle side slip angle in vehicle control process is too difficult to measure on-line, soft computing for vehicle side slip angle is established with Kalman filter and driver-vehicle closed-loop system, based on parameter soft sensor theory and discrete signal filtering theory. This measurement can realize one mapping from information set of yaw rate and lateral acceleration which is easy to measure to side slip angle. The contrastive results of simulation and road test verify the effectiveness and higher precision of this measurement. And the application of soft computing technology has provided a feasible and accuracy and effective way for the estimator design in vehicle control system. The realization of state estimation based on soft computing technology provides a theoretical basis on soft computing applied to vehicle stability control system. Index Terms—vehicle side slip angle, soft computing, Kalman filter, state estimation I