The estimation of tire forces in Vehicle Dynamics Control by HILS

摘要

This study is implemented the estimation of tire forces for VDC controller. The vehicle motion depends on tire forces. Particularly in lateral dynamics, the information of road and tire condition becomes essential factor of VDC controller. It is not feasible in VDC controller to measure forces between road and tire on real-time. Therefore, by the related information such as yaw rate, steering angle, lateral acceleration, longitudinal velocity, and wheel cylinder pressure, tire forces and road friction coefficient can be estimated from vehicle dynamics model and applicable to VDC controller. Finally, the performance of estimator is validated by HILS system and VDC controller, which uses the sliding mode control method for robust performance.