Geometric-based tyre vertical force estimation and stiffness parameterisation for automotive and unmanned vehicle applications

• Published in: Vehicle system dynamics Vol. 55; no. 2; pp. 168 - 190
• Main Authors: Wilson, G. N., Ramirez-Serrano, A., Sun, Q.
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 01.02.2017; Taylor & Francis Ltd
• Subjects: Algorithms; All terrain vehicles; ATV tyre; Automobiles; Automotive engineering; Computer simulation; Empirical analysis; Estimates; Parameter estimation; Stiffness; System dynamics; Test equipment; Tires; tyre dynamics; tyre model; tyre parameterisation; UGV; Unmanned ground vehicles; Unmanned vehicles; Vertical forces
• ISSN: 0042-3114; 1744-5159
• DOI: 10.1080/00423114.2016.1249378

Advanced empirical, and physical-based tyre models have proven to be accurate for simulating tyre dynamics; however, these tyre models typically require expensive and intensive tyre parameterisation. Recent research into wheeled unmanned ground vehicles requiring vertical force analysis has shown good results using a simple linear spring model for the tyre which demonstrate the continued use for simple tyre models; however, parameterisation of the tyre still remains a challenge when load test equipment is not available. This paper presents a cost-effective tyre vertical stiffness parameterisation procedure using only measured tyre geometry and air pressure for applications where high-fidelity tyre models are unnecessary. Vertical forces calculated through an air volume optimisation approach are used to estimate tyre vertical stiffness. Nine tyres from the literature are compared to evaluate the performance of the vertical force estimation and stiffness parameterisation algorithms. Experimental results on a pair of ATV tyres are also presented.