Table of Contents
ISRN Mechanical Engineering
Volume 2014, Article ID 934181, 8 pages
Research Article

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

1School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China
2The GPS and Vehicle Dynamics Laboratory, Auburn University, AL 36849, USA

Received 9 December 2013; Accepted 17 January 2014; Published 3 March 2014

Academic Editors: F. Tornabene and G.-J. Wang

Copyright © 2014 Jun Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper demonstrates the implementation of a model-based vehicle estimator, which can be used for lateral tire force estimation without using any highly nonlinear tire-road friction models. The lateral tire force estimation scheme has been designed, and it consists of the following three steps: the yaw moment estimation based on a disturbance observer, the sum of the lateral tire force of two front tires and two rear tires estimation based on a least-square method, and individual lateral tire force estimation based on a heuristic method. The proposed estimator is evaluated under two typical driving conditions and the estimation values are compared with simulator data from CarSim and experimental data provided by GM. Results to date indicate that this is an effective approach, which is considered to be of potential benefit to the automotive industry.