Simultaneous Observation of Inputs and State of Wheeled Vehicle Model
Résumé
This paper deals with the problematic of Advanced Driver Assistance systems for active-safety and automatic control of wheeled vehicles. A non-linear high-gain unknown inputs state observer is designed to compute simultaneously longitudinal and transversal tire forces, resultant torques applied to wheels and the vehicle speeds. This kind of software sensors is very useful in defining these new mechatronic systems. Having validated the model of knowledge using a realistic vehicle simulator, the observer is tested under the same conditions and shows good performances for the vehicle state, tire forces and the unknown torques reconstruction.