title: Vehicle lateral state estimation based on measured tyre forces.
abstract: Future active safety systems need more accurate information about the state of vehicles. This article proposes a method to evaluate the lateral state of a vehicle based on measured tyre forces. The tyre forces of two tyres are estimated from optically measured tyre carcass deflections and transmitted wirelessly to the vehicle body. The two remaining tyres are so-called virtual tyre sensors, the forces of which are calculated from the real tyre sensor estimates. The Kalman filter estimator for lateral vehicle state based on measured tyre forces is presented, together with a simple method to define adaptive measurement error covariance depending on the driving condition of the vehicle. The estimated yaw rate and lateral velocity are compared with the validation sensor measurements.
authors.affiliation: Laboratory of Automotive Engineering, Helsinki University of Technology, P.O. Box 4300, 02015 TKK, Finland; E-Mail:  ari.tuononen@tkk.fi ; Tel.: +358-50 5604702;
authors.forename: Ari J
authors.initials: AJ
authors.lastname: Tuononen