Simultaneous identification of tire cornering stiffnesses and vehicle center of gravity

INS, GPS measurements are used to simultaneously estimate the location of the center of gravity of a vehicle and the tire cornering stiffnesses. The developed method uses kinematic as well as dynamic equations of a lateral vehicle model to eliminate the bias in the yaw rate and lateral acceleration measurements. An approximation of the moment of inertia is used to combine the dynamic equations of a bicycle model and thereby estimate the tire cornering stiffnesses. The chief advantage of this method is its determinate formulation which eliminates the constraint on persistency of excitation during vehicle testing. It is shown using simulations that the accuracy of the proposed method is affected by measurement noise.