A Nonlinear Estimation Approach for Vehicle and Tire-Road Monitoring with No Interaction Modelling

The reliability of control systems implemented onboard vehicles is strictly dependent on the correct estimation of the sideslip angle coupled with tire-road features. The prediction of tire-road forces and friction is strongly dependent on tire models typically characterizable through expensive experimental tests. In this paper, a nonlinear estimation approach, based on an Extended Kalman Filter, of lateral tire-road forces and friction coupled with the vehicle sideslip angle is proposed. The estimator is based on a single-track vehicle model, including a parametric estimation approach to avoid a specific tire model employment. The results obtained through the proposed technique are compared with a detailed vehicle model in both non-noisy and noisy measurements.