타이어 수직 하중 예측을 이용한 차량 Sideslip angle 예측 모델 개발

In this research, to estimate side slip angle which is a important parameter for the vehicle stability control, we utilize Intelligent tire system that is measurable tire deformation using deform sensor attached in tire. And, we estimate the left, right tire vertical forces from tire deformation and suggest the method to estimate side slip angle by using estimated tire vertical force. First, we figure out characteristic of tire deformation in respect of tire vertical force by using strain gauge test data and acquired tire contact patch length from tire deformation. And then, the model is developed to estimate tire vertical force using tire contact patch length. Developed model get information of tire left, right vertical force and it is used to estimate vehicle sideslip angle. Finally, estimation of vehicle sideslip angle is suggested by using kinematics of lateral vehicle motion and relation between tire vertical force and cornering stiffness.