On the benefit of smart tyre technology on vehicle state estimation

Among other variables, smart tyre systems are capable of determining contact forces. Combining this information with the signals obtained from conventional vehicle sensors, e.g. inertial measurement units, wheel speed sensors and steering angle improves estimation accuracy states used by dynamics controllers production cars. This study assesses performance improvement brought vertical longitudinal force signals, through tyres, to an unscented Kalman filter (UKF) for sideslip estimation, based on a nonlinear model. Two UKF designs, excluding including information, compared using experimental data purposely sensorised high-performance passenger car, along comprehensive set manoeuvres. The results show average ∼60% ∼37% reductions root mean square values normalised errors design receiving information. In comparison more without inputs, estimator is also characterised significantly enhanced robustness adaptability typical variations parameters, such as tyre-road friction coefficient.