Abstract
In order to control vehicle behavior, it is essential to estimate the tire force accurately. However, even today it is difficult to detect the tire performance degradation before the deterioration of vehicle dynamics in real time. This is because the tire force estimation is usually conducted by comparing the actual vehicle motion with the onboard reference vehicle model motion. Therefore, such conventional estimators do not perform well if there is significant difference between the actual vehicle and the model behavior. In this paper, a new tire state estimation method based on tire force characteristic is proposed. In addition, the estimator for tire-road surface friction coefficient ,u is proposed by using this geometric relationship.
