Soft sensor of vehicle state based on UKF and vehicle dynamics

A method of tire force state estimation is presented, which bases on Unscented Kalman Filter algorithm and a 7 degree of freedom vehicle dynamics model. Without available tire model, so it can still estimate the tire forces as well as vehicle longitudinal and lateral speed synchronously by this method. And a comparison with simulation result of CarSim is showed that the soft-sensing algorithm is effective. Therefore, it provides a new approach in the development of ESP and other advanced chassis electronic control system.