EXPERIMENTAL EVALUATION OF OBSERVER FOR LATERAL TIRE FORCES AND VEHICLE SIDESLIP ANGLE

This study focuses on the estimation of car dynamic variables for the improvement of vehicle safety. More specifically a new observer is proposed to estimate lateral tire forces and vehicle sideslip angle. This observer is based on an extended Kalman filter, a four-wheel vehicle model and a Burckhardt tire force model. The estimation process uses only measurements from currently-available standard sensors (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities). The estimation process is applied and compared to real experimental data, notably wheel force measurements. Experimental results show the accuracy and potential of the estimation process.