A real-time open-loop estimator is proposed for predicting the dynamic road input and the external force acting on a quarter-car vehicle. This estimate is achieved using only two acceleration measurements as inputs to the estimator; one each on the sprung and unsprung masses. The proposed method is differentiated from current disturbance accommodating control and bilinear observers. A description of the quarter-car model and the experimental test rig is given. Using the acceleration measurements from the quarter-car test rig, LTI model parameters were optimized for use in the estimator. The measured and estimated tire disturbance input, disturbance input velocity, and dynamic tire force signals are compared between simulated and experimental tests. The results show that the open loop observer provides estimates of the tire disturbance velocity and dynamic tire normal force with acceptable error.
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