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SideSlip (AKA lateral velocity) and numerical integration

There is a lateral acceleration required to follow a curve = V*V/R,
where V is speed and R is curve's radius
and then there is lateral acceleration actually currently being developed.
Some call the difference "SideSlip rate",
which integrated over time yields "lateral velocity".

Calculate SideSlip or lateral velocity by integrating SideSlipRate,
which in turn is calculated by
  AccelerationSway - SpeedKmh * OrientationYawVelocity.

Numerical integration is problematic in that errors can accumulate.
Most traditional numerical integration techniques fail for near real time,
wanting information about future samples.
Lacking those, perform simple-minded accumulation.
To minimize error accumulation,
note that SideSlip should approach zero
for small steering angles and lateral accelerations.
Consequently, apply lowpass filtering to accumulation,
introducing zero values with time constant decreasing
as steering angles and lateral accelerations approach zero.

Simplifying Approximation

"Most drivers are acutely sensitive to the rate of change of body slip angle." [the SideSlip Angle Rate]
- Damian Harty, Vehicle Dynamics Engineer and Author
in which case, do not bother with numerical integration...

SideSlip Angle Rate factors speed out of SideSlip rate:
  AccelerationSway/SpeedKmh - OrientationYawVelocity.

maintained by blekenbleu