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Tire Lateral Force Estimation Using Kalman Filter

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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.

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Abbreviations

V x :

longitudinal velocity, m/s

V y :

lateral velocity, m/s

γ :

yaw rate, rad/s

m :

vehicle mass, kg

I z :

moment of inertia about yaw axis, kg m2

δ 1 :

left wheel steer angle, rad

δ 2 :

right wheel steer angle, rad

t :

half of vehicle track width, m

l f :

distance from front axle to the center of gravity, m

l r :

distance from rear axle to the center of gravity, m

ρ air :

density of air, kg/m3

C d :

drag coefficient, -

A :

vehicle front cross sectional area, m2

φ :

roll angle, rad

ε f :

front roll steer compliance, -

ε r :

rear roll steer compliance, -

l :

wheel base length, m

h cg :

height from ground to center of gravity, m

c ϕf :

front roll stiffness, nm/rad

c ϕr :

rear roll stiffness, nm/rad

h r :

distance from cg to roll axis, m

R r :

rolling resistance, -

R e :

effective radius, m

μ :

road friction coefficient, -

σ :

relaxation length, m

C α :

cornering stiffness, N/rad

K L :

lateral stiffness, N/m

K D :

distortion stiffness, Nm/rad

fl, fr, rl, rr :

front left, front right, rear left, rear right

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Author information

Authors and Affiliations

  1. Hankook Tire R&D Center, 50, Yuseong-daero 935beon-gil, Yuseong-gu, Daejeon, 34127, Korea

    Eunjae Lee

  2. Mechanical Engineering Department, KAIST, Daejeon, 34141, Korea

    Hojin Jung & Seibum Choi

Authors
  1. Eunjae Lee
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  2. Hojin Jung
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  3. Seibum Choi
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Corresponding author

Correspondence to Seibum Choi.

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Lee, E., Jung, H. & Choi, S. Tire Lateral Force Estimation Using Kalman Filter. Int.J Automot. Technol. 19, 669–676 (2018). https://doi.org/10.1007/s12239-018-0064-6

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  • DOI: https://doi.org/10.1007/s12239-018-0064-6

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