Consistent nonlinear estimation of longitudinal tire stiffness and effective radius

  title={Consistent nonlinear estimation of longitudinal tire stiffness and effective radius},
  author={Christopher R. Carlson and J. Christian Gerdes},
  journal={IEEE Transactions on Control Systems Technology},
This paper presents two effectively unbiased nonlinear estimation schemes which identify tire longitudinal stiffness and effective radius using Global Positioning System (GPS) and antilock braking system (ABS) wheelspeed sensors. A nonlinear approach is taken as one possible approach of eliminating the well known biases that linear least squares algorithms introduce for this problem. These new estimation strategies are then used to experimentally identify the longitudinal stiffness and… CONTINUE READING
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