Estimation of the Wheel-Ground Contacttire Forces using Extended Kalman Filter

To develop an effective vehicle control system, it is needed to estimate vehicle mot ions accurately. In the absence of commercially available transducers to measure the tire forces direct ly, various types of estimation methods have been investigated in the past. Most models in the literature usually use lowdegrees of freedom. In this paper, a new estimation process is proposed to estimate tire forces based on extended Kalman filter. These methods use the measurements from currently available standard sensors. For such estimat ion, a ten degree-of-freedom nonlinear vehicle model was developed. The estimated results are compared with the results obtained fromCarsim using the same parameter values to verify the proposed model.