Abstract
This article presents methods for estimating lateral vehicle velocity and tire cornering stiffness, which are key parameters in vehicle dynamics control, using lateral tire force measurements. Lateral tire forces acting on each tire are directly measured by load-sensing hub bearings that were invented and further developed by NSK Ltd. For estimating the lateral vehicle velocity, tire force models considering lateral load transfer effects are used, and a recursive least square algorithm is adapted to identify the lateral vehicle velocity as an unknown parameter. Using the estimated lateral vehicle velocity, tire cornering stiffness, which is an important tire parameter dominating the vehicle’s cornering responses, is estimated. For the practical implementation, the cornering stiffness estimation algorithm based on a simple bicycle model is developed and discussed. Finally, proposed estimation algorithms were evaluated using experimental test data.
Highlights
Vehicle dynamics control systems, such as yaw stability control, traction control and roll stability control systems, have developed for helping drivers maintain stability, maneuverability and safety [1,2].In order to improve the control performances of those systems, a great deal of research on the estimation of vehicle states/parameters, required in dynamics control systems, has been done
Sensors 2015, 15 information on vehicle sideslip angle and tire cornering stiffness is critical in the yaw stability control system that is currently implemented in many ground vehicles to prevent spin-out and to match the vehicle’s cornering response to the driver’s intent
Since cornering characteristics of a ground vehicle depend on lateral forces acting on tires, accurate tire models for calculating tire forces are required in vehicle dynamics controls
Summary
Vehicle dynamics control systems, such as yaw stability control, traction control and roll stability control systems, have developed for helping drivers maintain stability, maneuverability and safety [1,2]. In [14], a method to evaluate the lateral vehicle states based on tire forces, directly measured by optical tire sensors, is proposed, and the Kalman filter estimator is presented. In the author’s previous literature works [1,15], various methods for estimating the vehicle states, e.g., vehicle sideslip angle, roll angle, road friction coefficients, etc., using lateral tire force sensors are proposed, and their effectiveness is discussed through comparative study and field test results. This paper presents simple and practical methods for estimating the lateral vehicle velocity and tire cornering stiffness using lateral tire force measurements.
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