Abstract:
Vehicle mass-centroid sideslip angle plays an important role in the judgment of vehicle lateral stability. Overestimation or underestimation of the sideslip angle will affect the stability control system. At present, the estimation of sideslip angle still has a large error and has not been practically used in engineering. In order to reduce the observation error and improve the practicability of the estimation system, a robust fuzzy second-order sliding-mode observer was proposed to calculate the observed value of the sideslip angle, and the integral value of the sideslip angle was calculated by using the inertial measurement unit signal. Then, the advantages and disadvantages of the two estimation methods were analyzed, and the observation estimation value and the integral estimation value of the sideslip angle were extensively fused to realize the correction of the observation value with the sensor signal. Finally, the estimation method of sideslip angle was verified by Simulink/TruckSim simulation and hardware in the loop simulation. The effectiveness of the proposed method is proved based on the control effect in real vehicle test under the constant circular acceleration condition. The results show that the proposed method can accurately reflect the actual sideslip angle, and has good reliability and practicability.