Vehicle–road interaction modelling for estimation of contact forces

Abstract

The main objective of this paper deals with appropriate modelling (of a vehicle and the tyre–road contact) for online estimation of contact forces. This model will be helpful for trajectory monitoring, for steering control and also for diagnosis to avoid accidents or detection of oversteering or understeering situations. A robust observer is developed for adaptive estimation of the contact forces.

Keywords:

• Vehicle–road interaction model
• Robust observers
• Variable-structure systems
• Sliding modes
• Adaptive estimation and identification