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.006a" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.006a.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.006b" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.006b.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.006c" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.006c.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.006d" src="https://static.hindawi.com/articles/isrn/volume-2014/934181/figures/934181.fig.006d.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>

<table>CarSim data for double lane change with <svg height="15.35" id="M123" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 49.174999 15.35" width="49.174999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,10.862)"><path d="M538 96q-38 -45 -84 -76.5t-71 -31.5q-44 0 -15 117q12 49 18 89h-2q-99 -128 -163 -178q-36 -28 -70 -28q-26 0 -44 38h-2q-16 -69 -16 -129q0 -43 11 -75.5t24 -42.5l1 -6q-7 -12 -24.5 -23t-37.5 -11q-40 0 -40 76q0 52 35 202l94 407l78 24l5 -5q-32 -122 -72 -310
q-7 -33 0 -55t25 -22q36 0 105.5 75t107.5 145l32 146l75 26h10q-50 -197 -78 -347q-7 -38 6 -38q7 0 31 17t47 39z" id="x1D707"></path></g><g transform="matrix(.017,-0,0,-.017,14.205,10.862)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,28.909,10.862)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
q0 -76 10 -138.5t37 -107.5t69 -45q32 0 55.5 25t35.5 68.5t17.5 91.5t5.5 105t-5.5 105.5t-18 92t-36 68t-56.5 24.5z" id="x30"></path></g><g transform="matrix(.017,-0,0,-.017,37.069,10.862)"><path d="M113 -12q-24 0 -39.5 16t-15.5 42q0 24 16 40.5t40 16.5t40 -16.5t16 -40.5q0 -26 -16 -42t-41 -16z" id="x2E"></path></g><g transform="matrix(.017,-0,0,-.017,40.944,10.862)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg> at four tires.</table>

International Scholarly Research Notices

fig6

Figure 6

Figure 6: Estimate Lateral Tire Force Based on Yaw Moment without Using Tire Model 