Recursive Identification of Cornering Stiffness Parameters for an Enhanced Single Track Model, Report no. LiTH-ISY-R-2893

The current development of safety systems within the automotive industry heavily relies on the ability to perceive the environment. This is accomplished by using measurements from several di erent sensors within a sensor fusion framework. One important part of any system of this kind is an accurate model describing the motion of the vehicle. The most commonly used model for the lateral dynamics is the single track model, which includes the so called cornering sti ness parameters. These parameters describe the tire-road contact and are unknown and even time-varying. Hence, in order to fully make use of the single track model, these parameters have to be identi ed. The aim of this work is to provide a method for recursive identi cation of the cornering sti ness parameters to be used on-line while driving.