Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="541809.fig.007a" src="https://static-preview.hindawi.com/articles/mpe/volume-2010/541809/figures/541809.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>On dry asphalt: 90 km/h, maximum <math id="M129" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><msub><mrow><mi>a</mi></mrow><mrow><mi>y</mi></mrow></msub></mrow></math> 6 m/s<sup>2</sup></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="541809.fig.007b" src="https://static-preview.hindawi.com/articles/mpe/volume-2010/541809/figures/541809.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>On snow: 75 km/h, maximum <math id="M130" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><msub><mrow><mi>a</mi></mrow><mrow><mi>y</mi></mrow></msub></mrow></math> 3.8 m/s<sup>2</sup></td></tr></table></td></tr></table>

<table>Estimated results and comparison with experimental data for vehicle performing a double lane change maneuver, cited from [<a href="/journals/mpe/2010/541809/#B13">13</a>].</table>

Mathematical Problems in Engineering

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Figure 7

Figure 7: Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction 