Parameter estimation in the Pacejka’s tyre model through the TS method ⋆

In this paper, we consider the problem of estimating unknown parameters of the so-called Pacejka’s model of a tyre from measurements of the car behavior. Differently from other estimation problems, the tyre parameters may change during the car life due to tyre aging, the variability of the inflation pressure, or many further reasons. Rather then solving a single estimation problem, thus, the issue is to set-up an automatic estimator, able to to supply reliable estimates of the Pacejka’s parameters for any type of tyre and any type of operating condition. Existing methods for parameter estimation have been conceived for the estimation of the value taken by the parameter in a given functioning condition, and are not suitable for the problem here considered. In this paper we present a novel approach, the TS (two-stage) approach, specifically tailored to the problem of returning accurate estimates notwithstanding the tyres changeability. We compare its performances with those achievable with other parameter estimation techniques such as Prediction Error and Kalman Filter based methods. It turns that the TS approach offers significant improvements.