State estimation for integrated vehicle dynamics control

This paper discusses a vehicle controller and a state estimator that was implemented and tested in a vehicle equipped with a combined braking and chassis control system to improve handling. The vehicle dynamics controller consists of a feed forward body roll compensation and a feedback stability controller. The estimator is based on a non-linear vehicle model combined with an extended Kalman filter. The Kalman filter is also connected to an algorithm, which estimates the tyre-road friction coefficient. The developed estimator was tested in a vehicle. Good results were achieved for normal and extreme driving manoeuvers.