State estimation of the vehicle lateral dynamic with integrated estimation of the friction between tyre and road

Abstract

Control systems for vehicle stability require information about the actual vehicle state. While many states can be obtained from sensor signals, some important states, like the lateral velocity and the corresponding tyre-road friction have to be reconstructed by a vehicle state estimator, comprising of a simplified vehicle model. The efficiency of the developed vehicle state estimator has been proven in several projects for integrated vehicle dynamics control at the Ford Research Centre in Aachen.