Abstract
This paper develops a system that estimates the tire force by using the feature of electric motors. This paper describes how to estimate tire lateral force with electric motor of steer-by-wire system (SBW). Tire longitudinal force can be estimated with in-wheel-motor. Moreover, this paper proposes tire force estimation method by combining tire longitudinal force estimation method and the tire lateral force estimation method. Finally, the effectiveness of tire force estimation method is investigated by experiment using 'NOVEL-II' equipped with SBW and in-wheel-motors at rear axle.
