Modeling and Dynamics Control for Distributed Drive Electric Vehicles by Xudong Zhang

Author:Xudong Zhang
Language: eng
Format: epub
ISBN: 9783658322137
Publisher: Springer Fachmedien Wiesbaden

5.3.2 Linear Cornering Stiffness Estimation

In the usage cycle, tire cornering stiffness will deviate from the initial value. Hence, it cannot be treated as a constant for the vehicle dynamic control system. Rapid and accurate estimation of the cornering stiffness is vital.

Firstly, it is assumed that the tire linear cornering stiffness of the left and right tires is identical. These are defined as and . Generally, the tire cornering stiffness is affected by the load transfer of vehicles. Based on the 2-DOF model in Section 5.2, the relationship between lateral tire force, cornering stiffness and sideslip angle can be expressed as equations (5.20) to (5.23):

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