ssa_estimation_cpp

Side Slip Angle Estimation C++

This directory contains a modular implementation of a side slip angle estimation which can be used with different input and filter configurations.

The class incorporates multiple subclasses:

• State Machine: Monitors the states of the input modalities and handles which modalities should be fused. This class also returns the overall side slip angle estimation status.
• UKF: Unscented Kalman filter implementation, can be exchanged for flexible usage within the state estimation class.

Side Slip Angle Estimation

The side slip angle estimation predicts the following state vector utilizing inputs from a steering angle sensor, wheelspeed encoders, brake pressure, drive troque, orientation measurement and N IMUs (N is defined here):

$$x = \left[\begin{array}{c} {V_COG} \\ {\beta_COG} \end{array}\right]$$

State Machine

The following state transitions are defined, necessitating a software reset to exit the ERROR and STALE states:

•                      |  OK  | WARN | ERROR |
  

• ---

• any valid_imu_x | x | x | |

• ---

• valid_steering | x | x | |

• ---

• valid_wheelspeed | x | x | |

• ---

• valid_drivetrain_torque | x | | |

• ---

• valid_brake_pressure | x | | |

• ---

• valid_orientation | | | |