Lateral load transfer and normal forces estimation for vehicle safety: experimental test

TLDR

Vehicle dynamics data are crucial for control systems that improve handling and passenger safety. The study introduces observers to estimate lateral load transfer and wheel‑ground normal forces. Using standard vehicle sensors, the authors developed a three‑block observer—mass identification, roll‑angle and lateral‑transfer estimation, and comparison of linear/nonlinear models for wheel‑vertical forces—implemented with prediction/estimation filters and validated on data from the INRETS‑MA laboratory car. Experiments confirm accurate estimation, indicating the method is a practical low‑cost solution for calculating normal forces. Keywords include vehicle dynamics, state observers, load transfer, vertical tyre force estimation, and rollover avoidance, and the work was supported by the national PREDIT‑SARI‑RADARR project.

Abstract

Abstract Knowledge of vehicle dynamics data is important for vehicle control systems that aim to enhance vehicle handling and passenger safety. This study introduces observers that estimate lateral load transfer and wheel–ground contact normal forces, commonly known as vertical forces. The proposed method is based on the dynamic response of a vehicle instrumented with cheap and currently available standard sensors. The estimation process is separated into three blocks: the first block serves to identify the vehicle's mass, the second block contains a linear observer whose main role is to estimate the roll angle and the one-side lateral transfer load, while in the third block we compare linear and nonlinear models for the estimation of four wheel vertical forces. The different observers are based on a prediction/estimation filter. The performance of this concept is tested and compared with real experimental data acquired using the INRETS-MA (Institut National de Recherche sur les Transports et leur Sécurité – Département Mécanismes d'Accidents) Laboratory car. Experimental results demonstrate the ability of this approach to provide accurate estimation, thus showing its potential as a practical low-cost solution for calculating normal forces. Keywords: vehicle dynamicsstate observersload transfervertical tyre force estimationrollover avoidance Acknowledgements This work was supported by the national PREDIT-SARI-RADARR project.