On a Nonlinear Constrained Estimator for Monitoring Vehicle and Tire-Road Interaction

The effectiveness of control systems integrated into vehicle operations relies heavily on accurately determining the sideslip angle in conjunction with tire-road characteristics. The foretaste of tire-road forces and friction is closely tied to tire models typically identified through costly experimental tests. A nonlinear estimation method employing a Constrained Unscented Kalman Filter for predicting lateral tire-road forces and friction in conjunction with the vehicle's sideslip angle is presented in the present work. The estimator is built upon a single-track vehicle model, incorporating a parametric estimation approach to circumvent the necessity of employing a specific tire model. The outcomes obtained through this proposed technique are compared with those from a Multibody vehicle model under noise-free and noisy measurement conditions.