Knowledge of vehicle dynamics data is important for vehicle control systems that aim to enhance vehicle handling and passenger safety. This study introduces observers that estimate lateral load transfer and wheel-ground contact normal forces, commonly known as vertical forces. The proposed
method is based on the dynamic response of a vehicle instrumented with cheap and currently available standard sensors. The estimation process is separated into three blocks: the first block serves to identify the vehicle's mass, the second block contains a linear observer whose main role is
to estimate the roll angle and the one-side lateral transfer load, while in the third block we compare linear and nonlinear models for the estimation of four wheel vertical forces. The different observers are based on a prediction/estimation filter. The performance of this concept is tested
and compared with real experimental data acquired using the INRETS-MA (Institut National de Recherche sur les Transports et leur Securite - Departement Mecanismes d'Accidents) Laboratory car. Experimental results demonstrate the ability of this approach to provide accurate estimation,
thus showing its potential as a practical low-cost solution for calculating normal forces.
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