Estimation of tire cornering stiffness using GPS to improve model based estimation of vehicle states

This paper demonstrates a method of obtaining key vehicle states using GPS and INS measurements with an adaptive model based estimator. A dual antenna GPS attitude system is used to estimate tire cornering stiffness. This estimated parameter is updated in the estimator model to provide more accurate estimates of the vehicle states. The experimental results for the estimate of sideslip and yaw rate using the updated estimator model compare favorable to values predicted by the theoretical model.