Inverse-dynamics observer design for a linear single-track vehicle model with distributed tire dynamics

2026-03-08

AI Summary

This work proposes a high-precision method for estimating vehicle sideslip angle and tire forces to enhance safety and handling in unknown driving scenarios. By integrating a linear single-track vehicle model with a distributed tire dynamics model formulated as a hyperbolic partial differential equation (PDE), the approach reconstructs both lumped and distributed vehicle states using only conventional sensor measurements—namely yaw rate and lateral acceleration—through a dynamic inversion technique. The key innovation lies in the first-time incorporation of hyperbolic PDE-based distributed tire dynamics into observer design. Simulation results demonstrate that the proposed method achieves robust and accurate state estimation even in the presence of measurement noise and model uncertainties.

Technology Category

• Intelligent Robots: State Estimation
• Planning, Routing, and Scheduling: Model-Based Reasoning
• Computer Vision: Low Level & Physics-based Vision

Application Category

• Security and Privacy: Large-scale security measurements
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments

Abstract

Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety and handling performances in unknown driving scenarios. To this end, the present paper proposes an innovative observer that combines a linear single-track model with a distributed representation of the tires and information collected from standard sensors. In particular, by adopting a comprehensive representation of the tires in terms of hyperbolic partial differential equations (PDEs), the proposed estimation strategy exploits dynamical inversion to reconstruct the lumped and distributed vehicle states solely from yaw rate and lateral acceleration measurements. Simulation results demonstrate the effectiveness of the observer in estimating the sideslip angle and tire forces even in the presence of noise and model uncertainties.

Problem

• sideslip angle estimation
• tire force estimation
• vehicle dynamics
• observer design
• unknown driving scenarios

Innovation

• inverse-dynamics observer
• distributed tire dynamics
• hyperbolic PDEs
• sideslip angle estimation
• linear single-track model