Observation of vehicle states by using steering wheel angle and wheel angular speeds

In this paper, nonlinear observer is designed to estimate vehicle motion dynamics and tire forces in both of the longitudinal and lateral direction. Steering wheel angle and individual angular wheel speed is measured and the other vehicle states are not measured. The proposed observer assures bounded estimation error. Observer design methodology is simple to implement and to be computed on a real-time basis. This observer may be proposed to enhance redundancy of the closed vehicle dynamics controller system and fault-tolerance capability of detecting potentially critical maneuver situations. Simulation results are presented to illustrate the effectiveness of the presented nonlinear observer.