Sideslip Angle Estimation for Lateral Vehicle Control with Delayed Output Measurements

In the control of automatic driving, the sensor measurement is usually based on the physical output delay of the system itself, comprehensively considering the delay estimation of the observer and the current system input, and using the observer predictor to compensate the delay. In order to ensure the reliability of observer prediction, a sideslip angle estimation method for autonomous vehicles is proposed in this paper. A robust mixed H-infinity and Kalman-filter is constructed to optimize the accuracy of sideslip angle estimation, and ensure the robustness of sideslip angle estimation when there is uncertainty in the model. The simulation results show that the proposed filtering method can ensure the accuracy of sideslip angle estimation.