Identification of lateral tyre force dynamics using an extended Kalman filter from experimental road test data

A methodology is presented for identifying lateral tyre force dynamics by studying the vehicle dynamics. The methodology is based on the EKF (extended Kalman filter) and makes it possible to determine lateral tyre force dynamics on the basis of the results obtained from standard on-road handling manoeuvres. The experimental activity, a vehicle model, and an appropriate identification algorithm are described. The vehicle model has four degrees of freedom where the lateral tyre forces are described by the Magic formula with transient behaviour. The test vehicle is equipped with standard sensors used by vehicle and tyre manufacturers in handling manoeuvres. Handling tests are performed, and the results of standard tests are for off-line identification of the coefficients of lateral tyre dynamics using EKF data. The identified lateral tyre dynamics are validated, and the results show good agreement between simulation and measurement, which confirms the validity and accuracy of the estimated lateral tyre model.