Vehicle sideslip estimation using tyre force measurements

Estimating vehicle sideslip is challenging as well as important for vehicle safety systems such as Electronic Stability Control. In this work, a Kalman filter is proposed to estimate vehicle sideslip using tyre force measurements. Most of the vehicle sideslip estimators do not use tyre force measurements and are based on tyre force model. Because of the tyre force model nonlinearities and uncertainties, the estimator accuracy depends highly on factors such as tyre-road friction, vertical load, temperature, tyre pressure, etc. Therefore availability of tyre force measurements offers benefits in vehicle sideslip estimation. The proposed estimator also has advantage over accelerometer based estimators as the later can have estimation errors from roll and pitch dynamics. The estimator is studied in a multi-body vehicle simulator for various maneuvers.