A New Parameter Estimation Methodology Using Steady State Yaw Rate Measurements for Lateral Vehicle Dynamics

Abstract

In this paper, the lateral dynamics of road vehicles (LDRV) is further studied from the viewpoint of vehicle informatics. It is seen that LDRV is first decoupled and the vehicle slip angle is proved to be observable from the yaw rate measurements. A new methodology of parameter estimation using steady-state yaw rate measurements (PESYRM) is then developed to accurately estimate the parameters of LDRV. The important characteristics of PESYRM comprise four parts: 1) The steering angle input to LDRV is chosen as the linear combination of sinusoids; 2) Only the steady state information of yaw rate in any fundamental period is required to accurately estimate the unknown parameters of LDRV; 3) Unlike many existing parameter estimation methods, the time consuming computing of the inverse of high-dimensional data matrix is avoided by making full use of the orthogonal properties of trigonometric base functions; 4) All of system information of LDRV is embedded in the measurements of the steady state yaw rate in any fundamental period. A simulation example is carried out to show the advantages and effectiveness of the new research findings for LDRV.