Appendix 4

Observer for Lateral Tire Force Estimation

(Case of Small Sideslip Angle)

In section 4.5.6, a state-space model formulation for the lateral tire force estimation
is considered. A four-wheel vehicle model is considered and an assumption of front-
wheel drive is taken into account. In this section, the same hypothesis is investigated,
and in addition we consider the case of small vehicle slip angle, where:

Vy
= . [A4.1]
Vx

The lateral dynamics of the vehicle can be obtained by summing up the forces and
moments about the vehicles center of gravity. Consequently, the simplied FWVM is
formulated as the following dynamic relationship:

1 Fx1 cos( ) + Fy11 sin( )

Vg = ,
mv + Fy12 sin( ) + (Fy21 + Fy22 ) sin

lf [Fy11 cos + Fy12 cos + Fx1 sin ]
1 lr [Fy21 + Fy22 ]


= ,
Iz
E
+ [Fy11 sin Fy12 sin + Fx12 cos Fx11 cos ]
2
1 Fx1 sin( ) + Fy11 cos( )
= , [A4.2]
mv Vg + Fy12 cos( ) + (Fy21 + Fy22 ) cos
218 Vehicle Dynamics Estimation using Kalman Filtering

1
ay = [Fy11 cos + Fy12 cos + (Fy21 + Fy22 ) + Fx1 sin ],
mv
1
ax = [Fy11 sin Fy12 sin + Fx1 cos ].
mv

The tires dynamics is given by the relaxation model written as:

Vg
Fyij = (Fyij + Fyij ), [A4.3]
i

where Vg is the vehicle velocity and F yij is calculated from the quasi-static Dugoffs
tire-force model and i is the relaxation length.

The longitudinal tire forces and force sums are associated according to the
dispersion of vertical forces:

Fz11
Fx11 = Fx1 ,
Fz12 + Fz11
[A4.4]
Fz12
Fx12 = Fx1 .
Fz12 + Fz11

The input vector U comprises the steering angle and the normal forces considered
estimated by the rst block (see Figure 4.4):

U = [, Fz11 , Fz12 , Fz21 , Fz22 ] = [u1 , u2 , u3 , u4 , u5 ]. [A4.5]

The measure vector Y comprises yaw rate, vehicle velocity (approximated by

the mean of the rear wheel velocities calculated from wheel-encoder data) and
longitudinal and lateral accelerations:

Y = [, Vg , ax , ay ] = [y1 , y2 , y3 , y4 ]. [A4.6]

The state vector X comprises yaw rate, vehicle velocity, sideslip angle at the COG,
lateral forces and the sum of the front longitudinal tire forces:

X = [, Vg , , Fy11 , Fy12 , Fy21 , Fy22 , Fx1 ]

[A4.7]
= [x1 , x2 , x3 , x4 , x5 , x6 , x7 , x8 ].
 Appendix 4 219

Consequently, the particular nonlinear functions of the state equation, which relate
the state at time k to the previous state at time k 1 and to the input Uk , are given by:

lf [x4,k1 cos u1,k + x5,k1 cos u1,k + x8,k1 sin u1,k ]
te
f1 = x1,k1 + lr [x6,k1 + x7,k1 ] + E2 [x4,k1 sin u1,k x5,k1 sin u1,k ,
Iz +x u3,k
cos u x
u2,k
cos u ]
8,k1 (u2,k +u3,k ) 1,k 8,k1 (u2,k +u3,k ) 1,k

te x8,k1 cos(x3,k1 u1,k ) + x4,k1 sin(x3,k1 u1,k )

f2 = x2,k1 + ,
mv +x5,k1 sin(x3,k1 u1,k ) + (x6,k1 + x7,k1 ) sin(x3,k1 )

x8,k1 sin(x3,k1 u1,k )
te +x4,k1 cos(x3,k1 u1,k ) ,

f3 = x3,k1 x1,k1 +
mv Vg +x5,k1 cos(x3,k1 u1,k )

+(x6,k1 + x7,k1 ) cos x3,k1
x2,k1
f4 = x4,k1 + te (x4,k1 + Fy11 (11,k1 , u2,k )),
1
x2,k1
f5 = x5,k1 + te (x5,k1 + Fy12 (12,k1 , u3,k )),
1
x2,k1
f6 = x6,k1 + te (x6,k1 + Fy21 (21,k1 , u4,k )),
2
x2,k1
f7 = x7,k1 + te (x7,k1 + Fy22 (22 , u5 , k)),
2
f8 = x8,k1 .

The observation equation h(.), which denes the relation between the
measurements at time k and the states, is:

h1 = x1,k ,
h2 = x2,k ,
1 [A4.8]
h3 = [x4,k sin u1,k x5,k sin u1,k + x8,k cos u1,k ],
mv
1
h4 = [x4,k cos u1,k + x5,k cos u1,k + (x6,k + x7,k ) + x6,k sin u1,k ].
mv
This state-space model is effective for building an observer for lateral tire force
estimation. Besides, it is similar to the formulation presented in section 4.5.6 in
case of small slip angles. This representation was the subject of study in [DOU 09c,
DOU 11c].