차량 섀시 제어 성능 향상을 위한 타이어 힘 추정

Abstract

To consider the dynamics and control of a vehicle, it is necessary to have knowledge of the forces that act on a wheel. In this paper, a tire force estimation algorithm using in-vehicle sensor is proposed to prevent saturation of friction limit in a tire friction circle and improve vehicle motion control. Using only in-vehicle sensors, the algorithm estimates longitudinal, lateral and vertical tire force which is accurate and robust to sensor noise. In the proposed estimation algorithm, vertical force is estimated by applying a vehicle dynamics model, and longitudinal and lateral tire force is calculated by using a tire model. All the forces are filtered by Kalman Filter and the performance of the estimator is validated by CarMaker and MATLAB/Simulink.