4569846498

Modelling and assembly of the full vehicle 379
0.05
Body slip angle estimate
0.045
0.04
0.035
0.03
0.025
0.02
0.015
0.01
0.005
0
50 40 30 20 10 0 10 20 30 40 50
0.05
Body slip angle estimate
0.045
0.04
0.035
0.03
0.025
0.02
0.015
0.01
0.005
0
50 40 30 20 10 0 10 20 30 40 50
Fig. 6.46 Probability density for body slip angle estimates – Greece 2002 (top)
and Germany 2002 (bottom) for Petter Solberg, Subaru World Rally Team
invoked then we have to some extent failed. Such behaviour is desirable in
the real vehicle too and is the goal of active intervention systems such as
brake-based stability control systems; however, the robust sensing of body
slip angle still proves elusive in a cost-effective manner despite its apparent
simplicity.
6.13.4 Two-loop driver model
For general use, the authors favour a simple and robust two-loop
driver model comprising a path follower and spin catcher, with a separate
speed control as appropriate to the task at hand. Figure 6.48 shows such a
model.