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

• URL: http://arxiv.org/abs/2603.07499v1
• Date: Sun, 08 Mar 2026 07:05:16 GMT
• Title: Inverse-dynamics observer design for a linear single-track vehicle model with distributed tire dynamics
• Abstract summary: The 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.<n> 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.
• Score: 1.453612836743437
• License: http://creativecommons.org/licenses/by/4.0/
• 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.

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