| 초록 |
This paper describes the estimation method of tire forces by using vehicle accelerations and yaw rate. The tire forces estimated here are front traction and front/rear lateral forces, which are essential for vehicle yaw dynamics. The proposed method are based on a well-known bicycle model of a front wheel drive vehicle. Therefore, this paper first reviews in detail a bicycle model for vehicle yaw dynamics focusing on linearization. Even with all of its simplicity and robustness, the bicycle model has errors in the yaw rate and aligning moment with the measurements, owing to the assumptions used for linearization. In particular, the estimation method using vehicle accelerations and yaw rate in this paper can predict the tire forces neglecting the complicated nonlinearity of the tire itself by installing an acceleration transducer in the vehicle. In order to assure its feasibility, several simulations have been performed and the results have been compared with the MF tire model and the cornering stiffness model. The performances in practice have been validated by comparing the experimental results of installing a tri axial acceleration transducer and six-component wheel force transducers in the vehicle. Finally, the simulation and test results showed reliable performances for vehicle applications. |
