This work studied a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates were provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires was developed. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations were shown using a nonlinear model to simulate the vehicle and the force calculations were validated with experimental measurements on a test vehicle.

Research Assistants:

• Robert Daily

Sponsors:

• Auburn University Department of Mechanical Engineering

Publications:

• Daily, R., Bevly, D. M., "The Use of GPS for Vehicle Stability Control Systems," IEEE Transactions on Industrial Electronics , Vol. 51, No. 2, April 2004.