Determination and control of vehicle sideslip using GPS

摘要

A method for determining a sideslip angle of a terrestrial vehicle that moves on wheels by using a global positioning system (GPS) receiver. The GPS receiver is mounted in the vehicle and measures the horizontal velocity of the vehicle as well as its attitude. The sideslip angle of the vehicle at the GPS receiver is obtained from these measurements. The body sideslip angle and tire sideslip angles are derived by translating the sideslip angle at the GPS receiver to the center of gravity and to the wheels. Alternatively, an on-board gyroscope is provided for measuring vehicle attitude while the horizontal velocity is obtained from the GPS receiver. The method is extended to derive wheel slip and tire cornering stiffness. The vehicle states derived by the method can be used in a stability control system for stabilizing the motion of the vehicle.