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Authors: Guillaume Baffet 1 ; Ali Charara 1 and Daniel Lechner 2

Affiliations: 1 Heudiasyc Laboratory (UMR CNRS 6599), Université de Technologie de Compiègne, Centre de recherche Royallieu, France ; 2 INRETS-MA Laboratory, France

ISBN: 978-972-8865-83-2

Keyword(s): State observers, vehicle dynamic, sideslip angle estimation, tire-force estimation, wheel cornering stiffness estimation, linear adaptive force model.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: This study focuses on the estimation of car dynamic variables for the improvement of vehicle safety, handling characteristics and comfort. More specifically, a new estimation process is proposed to estimate longitudinal/lateral tire-road forces, sideslip angle and wheel cornering stiffness. This method uses measurements from currently-available standard sensors (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities). The estimation process is separated into two blocks: the first block contains an observer whose principal role is to calculate tire-road forces without a descriptive force model, while in the second block an observer estimates sideslip angle and cornering stiffness with an adaptive tire-force model. The different observers are based on an Extended Kalman Filter (EKF). The estimation process is applied and compared to real experimental data, notably sideslip angle and wheel force measurements. Experimental results show the accuracy and potential of the estimation process. (More)

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Paper citation in several formats:
Baffet G.; Charara A.; Lechner D. and (2007). ESTIMATION PROCESS FOR TIRE-ROAD FORCES AND VEHICLE SIDESLIP ANGLE.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 5-10. DOI: 10.5220/0001623900050010

@conference{icinco07,
author={Guillaume Baffet and Ali Charara and Daniel Lechner},
title={ESTIMATION PROCESS FOR TIRE-ROAD FORCES AND VEHICLE SIDESLIP ANGLE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={5-10},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001623900050010},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ESTIMATION PROCESS FOR TIRE-ROAD FORCES AND VEHICLE SIDESLIP ANGLE
SN - 978-972-8865-83-2
AU - Baffet, G.
AU - Charara, A.
AU - Lechner, D.
PY - 2007
SP - 5
EP - 10
DO - 10.5220/0001623900050010

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