A realistic vehicle model for ESP-like control laws synthesis

A new vehicle ESP-like control model is presented in this paper. Its main difference with respect to standard bicycle and horizontal models is the degree of realism it exhibits in highly demanding situations. An advanced sensitivity analysis will show that standard 2 degrees of freedom models might be remarkably improved by using state-dependent cornering stiffness coefficients. The experimental results will confirm that third order Taylor series of the lateral efforts expressions increases the accuracy of that real-time models. Finally, it will be shown that all tire and chassis devices must be globally considered in some kind of weighting factors for the Taylor series expressions.