Title: Lateral vehicle-dynamic observers: simulations and experiments

Authors: Guillaume Baffet, Ali Charara, Joanny Stephant

Addresses: Heudiasyc Laboratory (UMR CNRS 6599), University of Compiegne (UTC), Centre de recherches de Royallieu, 60205 Compiegne, France. ' Heudiasyc Laboratory (UMR CNRS 6599), University of Compiegne (UTC), Centre de recherches de Royallieu, 60205 Compiegne, France. ' Xlim Institut de recherche, Limoges Higher National School of Engineers (ENSIL), Parc d'Ester Technopole, 87068 Limoges, France

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.

Keywords: vehicle dynamics; tyre force models; state observers; sideslip angle estimation; tyre force estimation; road-friction identification; lateral tyre forces; wheel cornering stiffness; simulation.

DOI: 10.1504/IJVAS.2007.016400

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.3/4, pp.184 - 203

Available online: 28 Dec 2007 *

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