Estimation of Vertical, Lateral, and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure

摘要: The knowledge of tire-ground interaction forces is valuable for intelligent vehicles technologies. However, tire transducers are expensive and not suitable ordinary passenger cars. An alternative to estimate these using less sophisticated sensors. This paper presents a new delayed interconnected cascade-observer structure reconstruct the acting on each in all directions. addition interconnections overcomes mutual dependence problem cascade estimator. Observers developed based nonlinear vehicle dynamic models. Extended Kalman Filter Unscented algorithms applied comparison purposes. Two experimental data used validate estimator: driving urban streets high-speed slalom maneuver banked road. results compared with force measurements obtained an existing estimator from literature.