抄録
This paper describes the development of a estimation method of a tire lateral force based on a unscented Kalman filter and a multibody vehicle model. The purpose of this study is to estimate the tire lateral force in running by sensors that can be mounted on general automobiles. We constructed the multibody vehicle model of the experimental vehicle developed in our previous study. In the multibody dynamic analysis, the system Jacobian matrix was linearized in order to decrease the computational cost. Then, we constructed an estimation system by applying the vehicle model to the unscented Kalman filter. The tire lateral force is calculated based on the states estimated by the unscented Kalman filter. Moreover, we performed the estimation actually with the data obtained by a running simulation with the multibody vehicle model.
