Cornering stiffness estimation based on vehicle lateral dynamics

Abstract In this article, the cornering stiffness estimation problem based on the vehicle bicycle (one-track) model is studied. Both time-domain and frequency-domain-based methods are analyzed, aiming to estimate the effective cornering stiffness, defined as the ratio between the lateral force and the slip angle at the two axles. Several methods based on the bicycle model were developed, each having specific pros/cons related to practical implementations. The developed algorithms were evaluated on the basis of the simulation data from the bicycle model and the CarSimTM software. Finally, selected algorithms were evaluated using experimental data. Keywords: Road friction estimationTire forceLateral dynamics