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International Journal of Automotive Technology

, Volume 19, Issue 4, pp 669–676 | Cite as

Tire Lateral Force Estimation Using Kalman Filter

  • Eunjae Lee
  • Hojin Jung
  • Seibum Choi
Article
  • 95 Downloads

Abstract

As for the tire analysis, lateral tire force is a fundamental factor that describes the stability of vehicle handling. Attempts to analyze the vehicle stability have been made based on various objective test methods and some specific factors such as yaw, lateral acceleration and roll angle. However, the problem to identify which axle is lack of the tire grip at a certain situation still remains. Since indoor tire force measurement system cannot represent a real road and vehicle conditions, tire force measurement through a real vehicle test is inevitable. Due to the high price of the tire force measurement device, tire force estimator can be an alternative toward cost reduction and device failure. In this paper, nonlinear planar full car model combined with tire model is proposed. Then, using discrete-time extended Kalman-Bucy filter (EKBF), individual tire lateral force are estimated with modified relaxation length model.

Key Words

Kalman filter Relaxation length Tire force estimation Planar full car model Cornering stiffness model 

Nomenclature

Nomenclature

Vx

longitudinal velocity, m/s

Vy

lateral velocity, m/s

γ

yaw rate, rad/s

m

vehicle mass, kg

Iz

moment of inertia about yaw axis, kg m2

δ1

left wheel steer angle, rad

δ2

right wheel steer angle, rad

t

half of vehicle track width, m

lf

distance from front axle to the center of gravity, m

lr

distance from rear axle to the center of gravity, m

ρair

density of air, kg/m3

Cd

drag coefficient, -

A

vehicle front cross sectional area, m2

φ

roll angle, rad

εf

front roll steer compliance, -

εr

rear roll steer compliance, -

l

wheel base length, m

hcg

height from ground to center of gravity, m

cϕf

front roll stiffness, nm/rad

cϕr

rear roll stiffness, nm/rad

hr

distance from cg to roll axis, m

Rr

rolling resistance, -

Re

effective radius, m

μ

road friction coefficient, -

σ

relaxation length, m

Cα

cornering stiffness, N/rad

KL

lateral stiffness, N/m

KD

distortion stiffness, Nm/rad

Subscript

fl, fr, rl, rr

front left, front right, rear left, rear right

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References

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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Hankook Tire R&D CenterDaejeonKorea
  2. 2.Mechanical Engineering DepartmentKAISTDaejeonKorea

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