Lateral vehicle-dynamic observers: simulations and experiments
by Guillaume Baffet, Ali Charara, Joanny Stephant
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 5, No. 3/4, 2007

Abstract: This paper proposes and compares four observers designed to calculate vehicle sideslip angle and lateral tyre forces. The different observers are derived from the Extended Kalman Filter (EKF), the single-track model and use different tyre-force models. The first three tyre-force models are the linear model, the Burckhardt model and the Pacejka model. The remaining tyre-force model, the 'linear adaptive' model, is used to correct wheel cornering stiffness errors. The paper describes observers, along with a road-friction identification method. Observers are first compared in a simulation context using a professional vehicle simulator. Subsequently, observers are applied to experimental data.

Online publication date: Fri, 28-Dec-2007

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