Vehicle state estimation using steering torque

P. Yih, J. Ryu, J.C. Gerdes
2004 Proceedings of the 2004 American Control Conference   unpublished
This paper presents a new approach to estimating vehicle sideslip using steering torque information. This method is especially suited to vehicles equipped with steer-by-wire systems since the steering torque can easily be determined from the current applied to the steering motor. By combining a linear vehicle model with the steering system model, a simple observer may be devised to estimate sideslip when yaw rate and steering angle are measured. The observer is validated on a test vehicle
more » ... test vehicle equipped with a steer-by-wire system.
doi:10.23919/acc.2004.1383773 fatcat:q7hfmtkyr5aajgp6t4bwizdfdq