Title: Torques and tyre forces observation by intelligent sensors: case of longitudinal vehicle dynamics

Authors: Mohamed Ouahi; Mohammed Alfidi; Zakaria Chalh

Addresses: LISA, USMBA, BP 72, QI Ain Chkef, Bensouda, Fez, Morocco ' LISA, USMBA, BP 72, QI Ain Chkef, Bensouda, Fez, Morocco ' LISA, USMBA, BP 72, QI Ain Chkef, Bensouda, Fez, Morocco

Abstract: The knowledge of individual torques at each wheel are important intermediate variables for the design of advanced driver assistance systems. A nonlinear high-gain unknown inputs state observer is designed to compute simultaneously longitudinal and vertical tyre forces, resultant torques applied to wheels, and the vehicle speeds with a very simple four wheels model. The necessary measurements are the usual rotation speed of each wheel. Successful simulated experimentations of the method are shown as well as its present limits.

Keywords: vehicle dynamics; unknown input observer; torque; force; tyres.

DOI: 10.1504/IJMIC.2017.084720

International Journal of Modelling, Identification and Control, 2017 Vol.27 No.4, pp.303 - 313

Received: 21 Mar 2016
Accepted: 18 May 2016
Published online: 22 Jun 2017 *

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