By Topic

Onboard Real-Time Estimation of Vehicle Lateral Tire–Road Forces and Sideslip Angle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Moustapha Doumiati ; Institut National Polytechnique de Grenoble, Grenoble, France ; Alessandro Correa Victorino ; Ali Charara ; Daniel Lechner

The principal concerns in driving safety with standard vehicles or cybercars are understanding and preventing risky situations. A close examination of accident data reveals that losing control of the vehicle is the main reason for most car accidents. To help to prevent such accidents, vehicle-control systems may be used, which require certain input data concerning vehicle-dynamic parameters and vehicle-road interaction. Unfortunately, some fundamental parameters, like tire-road forces and sideslip angle are difficult to measure in a car, for both technical and economic reasons. Therefore, this study presents a dynamic modeling and observation method to estimate these variables. One of the major contributions of this study, with respect to our previous work and to the largest literature in the field of the lateral dynamic estimation, is the fact that lateral tire force at each wheel is discussed in details. To address system nonlinearities and unmodeled dynamics, two observers derived from extended and unscented Kalman filtering techniques are proposed and compared. The estimation process method is based on the dynamic response of a vehicle instrumented with available and potentially integrable sensors. Performances are tested using an experimental car. Experimental results demonstrate the ability of this approach to provide accurate estimations, and show its practical potential as a low-cost solution for calculating lateral tire forces and sideslip angle.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:16 ,  Issue: 4 )