Page - 47 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

4.2. Side Slip Angle Estimation data bus vehicle system measuring conversion data sensor RADAR camera CANCAN RTK ADMA GPS satellites ego vehicle RTK ADMA system measuring target vehicle CAN CANethernet traffic zωv,xvv Figure 4.2.: Schematic measurement setup Atthevehicledatabus,manydifferentsignalsareavailable(e.g. thesteeringwheelangle δSW, the wheel speeds cvx). Table 4.1 lists the recorded channels and their sources. It should be mentioned that data from the vehicle data bus is not as accurate as data from the ADMA equipment. Therefore, the data from the ADMA serves as an accurate reference measurement system. Figure D.1 in appendix D illustrates the position of the sensors in the ego and target vehicles. 4.2. Side Slip Angle Estimation One important quantity in vehicle dynamics is the side slip angle β at the CG of the vehicle, which is defined in eq. (B.7). Since it cannot be directly measured, an observer is used to estimateβ. The challenge is that the observer should work without measuring the lateral acceleration vay. In the literature, such as [BCLT08], [ZLC11] and [Kol13], the lateral acceleration is typically used to estimate the lateral tyre forces, which is the input for their vehicle model. The observer used here is based on the work of Kiencke et al., [KD97]. They use a linear Single-Track Model (STM), which is described in eq. (B.8). The output-matrix of the pant representing the measurements reads y= [ 0 1 ]︸ ︷︷ ︸ cT x, (4.2) 47