Article

Orthogonal Residual Learning for Adaptive Sideslip Angle and Cornering Stiffness Estimation

An orthogonal residual learning method constrains a model corrector via null-space parameterization to be orthogonal to cornering stiffness sensitivity, preventing the corrector from absorbing stiffness-change information and suppressing online adaptation. In full-vehicle simulation, the method reduces sideslip angle error by 12.7% to 22.0% and maintains the same adaptation speed as an uncorrected filter under step changes in stiffness. On public real-vehicle data, a 430-parameter orthogonal corrector retained more response to nominal stiffness offsets than an unconstrained corrector of the same size.

Part of the event: Orthogonal residual learning for sideslip angle and cornering stiffness estimation

This page provides a summary and source link only.