한국자동차공학회 / The Korean Society Of Automotive Engineers
한국자동차공학회 학술대회 및 전시회, Dec 2011, 11, P.929-931, 3P.
A parameter which determines vehicle dynamics is tire force. Tire force which works between road and vehicle gives information such as statement of tire or road friction. For those reasons, tire force is one of important information to realize advanced vehicle control system (AVCS). However, it is hard to measure tire force directly through sensors. Not only a sensor is expensive but installation of sensors on vehicle which drives very fast and on harsh environments is difficult problems. Because of those problems, estimation algorithms based on vehicle dynamic model are introduced to estimate tire force indirectly. In this thesis, lateral tire force is calculated from estimated variables. Unscented Kalman filter and Ensemble Kalman filter are used in this thesis for estimating variables with bicycle vehicle dynamic model.