In this paper we describe a side slip angle estimation methodology especially for a drive recorder which has limited vehicle sensing information. The drive recorder has attracted the attention of many researchers rece...
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In this paper we describe a side slip angle estimation methodology especially for a drive recorder which has limited vehicle sensing information. The drive recorder has attracted the attention of many researchers recently since its captured data contains valuable information that can enhance traffic safety. As the current algorithm of video capture and data acquisition, it detects hard braking by using acceleration sensor values and records the video image and vehicle data in that situation. However, the conventional trigger algorithm cannot be activated and the data cannot be recorded when the vehicle is in a side slip situation on a low friction road with low acceleration. We propose an estimation method of the vehicle side slip angle which uses lateral acceleration, yaw rate and velocity without requiring information about the steering wheel angle for the drive recorder configuration. In this paper we describe a synthesis of the estimation method based on a two-wheel lateral vehicle dynamics model and validation of the proposed methodology by experiments using an actual vehicle.
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