Modular scheme for vehicle tire forces and velocities estimation based on sliding mode observer

The accurate information of tire-road forces and vehicle velocities that could not be obtained directly by onboard sensors is virtual important for vehicle active safety systems. In this manuscript, it focuses on modular scheme for vehicle tire-road forces and velocities estimation using sliding mode observer. The longitudinal tire-road force is estimated first. Then, the lateral tire-road force could be estimated considering the longitudinal tire-road force as input. In the following, the integrated of nonlinear and sliding mode observer is proposed for the longitudinal and lateral vehicle velocities estimation. In order to verify the effectiveness of the proposed modular estimation scheme, simulations of various running condition are carried out. Moreover, the estimation results are compared with the experimental data of Hongqi vehicle HQ430. The simulation and experimental results specify that the proposed modular estimation scheme could obtain accurate estimation results of tire-road forces and vehicle velocities.