Road-tire force estimation in road passenger vehicle

Abstract

The development of active safety and ADAS systems is an important step to enhance the vehicles safety and to achieve a fully automated driving [1]. Those systems require a precise identification of the vehicle mechanical state (configuration and velocity) and its surroundings at every time instant in order to take decisions to avoid dangerous situations or simply to complete a parking manoeuvre. This is the reason why the focus of this work is the identification of tire road forces with the purpose of allowing future systems, like motion planning and decision making for autonomous driving, to correctly identify the vehicle state and be able to predict its behaviour. This work covers a quick overview of state estimation techniques for road vehicles, especially for the estimation of tire forces. After that, the implementation of a tire road forces estimator is covered, using a hybrid approach to identify vehicle sideslip at different excitation levels. These estimator outputs are then used to identify lateral load transfer and finally individual lateral tire forces on the vehicle.