• 대한기계학회논문집A
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• 제24권7호
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• pp.1871-1877
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• 2000

Longitudinal and lateral forces acting at tire are known to be closely related to the tractive ability, braking characteristics, handling stability and maneuverability of ground vehicles. However, it is not feasible in the operating vehicles to measure the tire forces directly because of high cost of sensors, limitations in sensor technology, interference with the tire rotation and harsh environment. In this paper, in order to develop tire force monitoring system, a new vehicle dynamics monitoring model is proposed including the roll motion. Based on the monitoring model, tire force monitoring system is designed to estimate the lateral tire force acting at each tire. A newly proposed SKFMEC (Scaled Kalman Filter with Model Emr Compensator) method is developed utilizing the conventional EKF (Extended Kalman Filter) method. Tire force estimation performance of the SKFMEC method is evaluated in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with a combined-slip Magic Formula tire model.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.