Title: Road safety: embedded observers for estimation of vehicle's vertical tyre forces

Authors: Moustapha Doumiati; Ali Charara; Alessandro Victorino; Daniel Lechner

Addresses: Heudiasyc Laboratory UMR CNRS 6599, Université de Technologie de Compiègne, Centre de recherches de Royallieu, 60205 Compiègne, France ' Heudiasyc Laboratory UMR CNRS 6599, Université de Technologie de Compiègne (UTC), Centre de recherches de Royallieu, 60205 Compiègne. ' Heudiasyc Laboratory UMR CNRS 6599, Université de Technologie de Compiègne (UTC), Centre de recherches de Royallieu, 60205 Compiègne. ' INRETS-MA Laboratory, Chemin de la Croix Blanche, 13300 Salon de Provence, France

Abstract: Preventing car accidents using vehicle control systems requires input data concerning vehicle dynamic parameters. Unfortunately, some parameters, like the tyre-road contact forces that have a major impact on vehicle dynamics, are difficult to measure in a car. Therefore, this data must be estimated. In this context, this study presents an estimation process for load transfer and wheel-ground contact vertical forces. The proposed method is based on Kalman filter techniques and on the dynamic response of a vehicle instrumented with currently available standard sensors. Experimental results carried out using an experimental car show the effectiveness of the proposed approach.

Keywords: vehicle dynamics; state observers; tyre-road forces; rollover detection; road safety; embedded observers; vehicle tyres; vertical tyre forces; vehicle accidents; vehicle control; load transfer; Kalman filter.

DOI: 10.1504/IJVAS.2012.047696

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.1/2, pp.117 - 143

Received: 05 Jan 2010
Accepted: 14 Oct 2010
Published online: 31 Dec 2014 *

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