Johan Hulten

Experimental Validation of the Brush Tire Model

The paper contains an experimental validation of the physically based brush-tire model toward the tire behavior in a number of different realistic conditions. Results of measurements performed with summer, winter, and studded tires on different road foundations such as wet and dry asphalt, basalt, snow, and ice are presented. The purpose behind the validation is to study the possibilities of using the brush model to estimate the friction coefficient from measurements or estimates of the longitudinal tire forces and tire slip. The sensitivity of the included tire parameters toward various factors that may change during normal run of the vehicle is also investigated.

Physical Model-Based Yaw Rate and Steering Wheel Angle Offset Compensation

The article describes a model-based estimation method for offsets in the yaw rate measurement and the steering wheel angle measurement for a vehicle. The estimator is constructed as a hybrid system comprising of two linear estimators. The switching between the two local linear systems is based on the vehicle operating mode.