Real time tyre forces estimation for advanced vehicle control

Driving safety can be achieved by better understanding critical situations which may require the knowledge of interaction between vehicle tyres and the road surfaces. It is thus essential to have a good estimation of the tyre/road friction forces in real-time. The paper deals with a new method for on-line estimation of tyre/road friction forces. This method provides an appropriate modelling to observe the tyre/road friction forces directly using measurable signals in real-time. In this work, we present a new mixed model-based approach using the steady state solution of the partial differential equation (PDE) form of LuGre to obtain the forces based on recursive nonlinear optimization of the curve fitting errors. Finally, real-time simulations in various conditions are provided to demonstrate the efficacy of the method. It is also compared with the well-known Pacejka tyre friction results which shows the effectiveness of the proposed approach.