An Adaptive Sliding Mode Observation for Vehicle Lateral Force

The tire lateral force is crucial to vehicle lateral stability control which aims at enhancing vehicle handing safety. Accurate observation of lateral force can effectively prevent vehicle side slip and out of control when the vehicle is steering at high speed. However due to high costs of sensors, it is difficult for vehicles to measure the lateral force directly. Therefore, the accurate and robust observation algorithm of lateral force is essential. A co-simulation model of vehicle is built by using the software of CarSim and Simulink, and some simulations are carried out under single-line shifting and double-line shifting conditions. Results show that: compared with the sliding mode observation (SMO) algorithm,the error of adaptive sliding mode observation (ASMO) algorithm is reduced 30.01%. That indicates that ASMO can effectively improve the robustness and accuracy of the system.