Simultaneous estimation of vehicle sideslip angle and tire-road friction coefficient

We simultaneously estimate the vehicle sideslip angle and tire-road friction coefficient from generally given information from various sensors by using the differences in tire characteristics. In most previous studies, a linear vehicle model for determining the lateral force has been used, whereas we use a nonlinear model. Furthermore, we use Levant's exact differentiator to determine the yaw angular acceleration from the yaw rate in real time. The proposed method can accurately estimate the vehicle sideslip angle and provide real-time information about road surface conditions without the need to use an expensive real-time kinematic global positioning system sensor.