Embedded estimation of the tire/road forces and validation in a laboratory vehicle
DOUMIATI ; BAFFET ; LECHNER ; VICTORINO ; CHARARA
Type de document
COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)
Langue
anglais
Auteur
DOUMIATI ; BAFFET ; LECHNER ; VICTORINO ; CHARARA
Résumé / Abstract
This paper proposes a new estimation process for tire-road forces and sideslip angle. This method uses measurements from currently available standard sensors (suspension sensors, yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities). This estimation process is separated into three principal blocks: the role of the first block is to estimate vertical tire forces, the second block contains an observer whose principal role is to calculate tire-road forces without a descriptive force model, while in the third block an observer estimates the sideslip angle and the cornering stiffness with an adaptive tire-force model. These different observers are based on Kalman Filter. The estimation process was applied and compared to real experimental data, notably sideslip angle and wheel force measurements acquired using the INRETS-MA Laboratory car. Experimental results show the accuracy and potential of this approach which enables practical realization of a low cost solution for tire-road contact forces and sideslip angle calculation.
Editeur
JSAE, Society of Automotive Engineers of Japan
