Robust estimation techniques for monitoring the lateral tire force

摘要

Longitudinal and lateral forces acting on tires are known to be closely related to the tractive ability, braking characteristics, handling stability and maneuverability of ground vehicles. However, it is not feasible in the operating vehicles to measure the tire forces directly because of high cost of sensors, limitations in sensor technology, interference with the tire rotation and harsh environment. Another approach is the indirect sensing technique which estimates the tire forces based on the remote sensor outputs and vehicle dynamics models. In this paper, in order to develop tire force monitoring systems, a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model, three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO (Sliding Mode Observer) and EKF (Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC (Scaled Kalman Filter with Model Error Compensator) technique that is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model.