Observers for vehicle tire/road forces estimation: experimental validation
DOUMIATI ; VICTORINO ; LECHNER ; BAFFET ; CHARARA
Type de document
ARTICLE A COMITE DE LECTURE REPERTORIE DANS BDI (ACL)
Langue
anglais
Auteur
DOUMIATI ; VICTORINO ; LECHNER ; BAFFET ; CHARARA
Résumé / Abstract
The motion of a vehicle is governed by the forces generated between the tires and the road. Knowledge of these vehicle dynamic variables is important for vehicle control systems that aim to enhance vehicle stability and passenger safety. This study introduces a new estimation process for tire/road forces. It presents many benefits over the existing state-of-art works, within the dynamic estimation framework. One of these major contributions consists of discussing in details the vertical and lateral tire forces at each tire. The proposed method is based on the dynamic response of a vehicle instrumented with potentially integrated sensors. The estimation process is separated into two principal blocks. The role of the first block is to estimate vertical tire forces, while in the second block two observers are proposed and compared for the estimation of lateral tire/road forces. The different observers are based on a prediction/estimation Kalman filter. The performance of this concept is tested and compared to real experimental data using a Laboratory car. Experimental results show that the proposed approach is a promising technique to provide accurate estimation. Thus, it can be considered as a practical low-cost solution for calculating vertical and lateral tire/road forces. Vehicle dynamics; state observers; load transfer; vertical and lateral tire/road forces;
Source
Vehicle System Dynamics, num. 11, 1345-1378 p.
Editeur
Taylor & Francis
