Study on the Estimation Method of the Forces on Vehicle Tires for ESC System

Many vehicle state parameters will be used in the electronic stability control (ESC) system. ESC system must estimate some important parameters based on a few sensors and help to develop the control strategies. ESC can estimate the work state of vehicle with tire forces based on the estimating of adhesion coefficient and wheel slip ratio, then determine the control strategy on wheels. The tire forces to be estimated include vertical force, lateral force and longitudinal force on tires. In this article, a method of estimating vertical tire force based on vehicle geometric parameters and vehicle working state, a method of estimating tire lateral force based on vehicle yaw rate and the change of tire longitudinal forces caused by the change of vertical forces and lateral forces have researched. Co-simulation shows that the trend of the tire forces changing is correct and small error on high and low adhesive pavement. The ESC system is available on HIL bench and testing vehicle, so the estimates of tire forces are practical methods.