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Sensors 2009, 9(11), 8761-8775; doi:10.3390/s91108761

Vehicle Lateral State Estimation Based on Measured Tyre Forces

Laboratory of Automotive Engineering, Helsinki University of Technology, P.O. Box 4300, 02015 TKK, Finland
Received: 16 September 2009 / Revised: 14 October 2009 / Accepted: 21 October 2009 / Published: 30 October 2009
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Future active safety systems need more accurate information about the state of vehicles. This article proposes a method to evaluate the lateral state of a vehicle based on measured tyre forces. The tyre forces of two tyres are estimated from optically measured tyre carcass deflections and transmitted wirelessly to the vehicle body. The two remaining tyres are so-called virtual tyre sensors, the forces of which are calculated from the real tyre sensor estimates. The Kalman filter estimator for lateral vehicle state based on measured tyre forces is presented, together with a simple method to define adaptive measurement error covariance depending on the driving condition of the vehicle. The estimated yaw rate and lateral velocity are compared with the validation sensor measurements.
Keywords: optical position detection; intelligent tyre; tyre sensor; vehicle state estimation optical position detection; intelligent tyre; tyre sensor; vehicle state estimation
This is an open access article distributed under the Creative Commons Attribution License (CC BY) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Tuononen, A.J. Vehicle Lateral State Estimation Based on Measured Tyre Forces. Sensors 2009, 9, 8761-8775.

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