A novel hyperbolic tangent sliding mode observation of vehicle lateral force fed back by longitudinal force error

The tyre lateral force control is crucial to vehicle stability. Vehicle side slip and out of can be prevented effectively by observing accurately the force. Thus, a novel quasi-sliding mode observer (QSMO) proposed. algorithm adopts longitudinal error as feedback considering parameter uncertainties without complex model. First, on-line verification was carried dSPACE for using experimental data real linear acceleration deceleration conditions, comparison output with different observation algorithms. Further, simulation under emergency obstacle avoidance conditions double-line shifting were conducted verify accuracy respectively. Simulation results show that percentage errors between forces from proposed QSMO actual are less than 5.35%, prediction 38.78% higher conventional first-order SMO (FSMO), which indicates superior FSMO.