Estimation of vehicle´s vertical and lateral tire forces considering road angle and road irregularity

Vehicle dynamics is an essential topic in development of safety driving systems. These complex and integrated control units require precise information about vehicle dynamics, especially, tire/road contact forces. Nevertheless, it is lacking an effective and low-cost sensor to measure them directly. Therefore, this study presents a new method to estimate these parameters by using observer technologies and low-cost sensors which are available on the passenger cars in real environment. In our previous work, observers have been designed to estimate the vehicle tire/road contact forces and sideslip angles. However, the previous study just considered the situation of the vehicles running on a level road. In our recent study, vehicle mathematical models are reconstructed to suit banked road and inclined road. Then, Kalman Filter is used to improve the estimation of vehicle dynamics. Finally, the estimator is tested both on simulation CALLAS and on the experimental vehicle DYNA.