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International Journal of Automotive Technology > Volume 19(4); 2018 > Article
International Journal of Automotive Technology 2018;19(4): 669-676.
doi: https://doi.org/10.1007/s12239-018-0064-6
TIRE LATERAL FORCE ESTIMATION USING KALMAN FILTER
Eunjae Lee1, Hojin Jung2, Seibum Choi2
1Hankook Tire
2KAIST
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
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