Nonlinear observers of tire forces and sideslip angle estimation applied to road safety: Simulation and experimental validation

Extensive research is focus on the stability control in the modern industrial auto-mobile society. Some active safety systems, such as Electronic Stability Program (ESP) and Traction Control System (TCS) have been widely used as safety option in our quotidian cars. These systems are based on the information which contains the motion characteristic of vehicle. Nevertheless, some complex safety system needs more information which can preferable describe the precise motion features, such as sideslip angle and tire forces. This article will principally present two non-linear observers: EKF (Extended Kalman filter) and PF (Particle filter) to estimate these variables, respectively. These observers are designed based on the non-linear double track model. The Dugoff model is used to elaborate the relation between tire forces and sideslip angle. Performances of these observers are tested by using the experimental data in real driving test, using our laboratory vehicle equipped with a real-time sampling and processing system. Particularly, the estimation process with EKF has been developed as a real-time application for the onboard test. Furthermore, a simulator is involved in the critical driving test which is hazardous in real driving condition.