Estimation of Vehicle Parameters and Road Friction Using Steering Torque and Wheel Speeds

摘要

It is often difficult to measure all necessary parameters directly in the current stability control systems. This paper presents a nonlinear observer to estimate vehicle's yaw rate, lateral acceleration, tire side slip angles and the road friction coefficient based on the measurement signals of the Electric Power Steering (EPS) system and the Anti-lock Braking System (ABS). The performances of the designed nonlinear observer have been investigated by means of computer simulations and experimental tests under various conditions.