Design and Verification of an Extended Kalman Filter to Estimate Vehicle Tyre Forces

This paper will present a method of estimating tyre friction force using an extended Kalman filter (EKF). A review of current and proposed methods for tyre force estimation from the literature will be given. The EKF developed will estimate vehicle motions and tyre forces as state estimates from a noisy measurement set. The measured data is taken from a Formula 1 car, which was fitted with strain-gauged wheel rims, meaning the tyre force estimates can be evaluated against directly measured data. Various vehicle manoeuvres are run to check steady-state and transient estimation correlation.