Cooperative steering system based on vehicle sideslip angle estimation from side acceleration data at percussion centers

This paper considers how a manual steering scheme can be combined with automatic steering for a cooperative steering system which yields better stability, together with path following capability. A new version of the combination is proposed based on a course error differential equation at a percussion center with respect to rear-wheels. The automatic steering includes the feedback of vehicle sideslip angle which is difficult to measure by an ordinary device. An adaptive estimation scheme is proposed to feedback the sideslip angle. Driving simulator experiments demonstrate good estimates and good performance of the cooperative steering system.