Estimate Lateral Tire Force Based on Yaw Moment without Using Tire Model

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="934181.fig.007a" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Lateral force for front-left tire</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="934181.fig.007b" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Lateral force for front-right tire</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="934181.fig.007c" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.007c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Lateral force for rear-left tire</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="934181.fig.007d" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.007d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Lateral force for rear-right tire</td></tr></table></td></tr></table>

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</svg> at four tires.</table>

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Figure 7

Figure 7: Estimate Lateral Tire Force Based on Yaw Moment without Using Tire Model 