Adap-tyre: DEKF filtering for vehicle state estimation based on tyre parameter adaptation

This paper presents an application of the dual extended Kalman filter (DEKF) algorithm for the estimation of vehicle/tyre dynamics states and parameters. The developed algorithm Adap-tyre relies on online adaptation of simple tyre models available in the literature and it is used in this paper for vehicle handling estimation. The performance of Adap-tyre is assessed by comparing estimated vehicle characteristics (vehicle body sideslip angle and tyre lateral forces) and tyre parameters with characteristics of a non-linear vehicle planar model with tyres modelled according to the magic formula. Simulation results indicate that the proposed algorithm is very efficient in estimating critical vehicle states and tyre parameters.