4. Estimation of the Lateral Tire Forces

  1. Moustapha Doumiati,
  2. Ali Charara,
  3. Alessandro Victorino,
  4. Daniel Lechner and
  5. Bernard Dubuisson
  1. Moustapha Doumiati,
  2. Ali Charara,
  3. Alessandro Victorino,
  4. Daniel Lechner and
  5. Bernard Dubuisson

Published Online: 26 DEC 2012

DOI: 10.1002/9781118578988.ch4

Vehicle Dynamics Estimation using Kalman Filtering

Vehicle Dynamics Estimation using Kalman Filtering

How to Cite

Doumiati, M., Charara, A., Victorino, A., Lechner, D. and Dubuisson, B. (2012) Estimation of the Lateral Tire Forces, in Vehicle Dynamics Estimation using Kalman Filtering (eds M. Doumiati, A. Charara, A. Victorino, D. Lechner and B. Dubuisson), John Wiley & Sons, Inc., Hoboken, NJ USA. doi: 10.1002/9781118578988.ch4

Publication History

  1. Published Online: 26 DEC 2012
  2. Published Print: 17 DEC 2012

ISBN Information

Print ISBN: 9781848213661

Online ISBN: 9781118578988

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Keywords:

  • Dugoff’s tire model;
  • lateral tire;
  • sideslip angle;
  • unscented Kalman filter

Summary

This chapter outlines some of the fundamental concepts of the lateral tire force. First, a survey of existing methods dealing with parameters that describes the lateral tire force is presented. Then, the chapter presents the original method for estimating individual lateral tire force and sideslip angle. The developed observers are derived from a simplified four-wheel vehicle model, linear/nonlinear tire models and potentially available measurements. The estimation techniques are based on extended and unscented Kalman filtering techniques. Tire-road interaction is represented by a relaxation model involving a linear and a quasi-static Dugoff’s tire model. Experimental data acquired on both dry and wet pavements confirm that the proposed algorithm performs reliably in a number of different maneuvers. In the future, the improvement of the vehicle/road model will be valuable to widen validity domains of the observer, and make it adaptive to road conditions.

Controlled Vocabulary Terms

Kalman filters; tyres; vehicle dynamics