Model-Based Approach for Cornering Stiffness and Yaw Moment of Inertia Estimation of a Scaled Electric Vehicle

This paper addresses the problem of estimating the tire cornering stiffness coecient and the yaw moment of inertia of a scaled car-like vehicle. The method merges measurements information of the vehicle lateral response along with its nonlinear planar model. Aiming effective and accurate results, we propose solving an optimization problem based on a representative dataset obtained experimentally using a persistently exciting input. The validation of the proposed method is shown by comparing the agreement between numerical simulations, evaluated with the estimated parameters, with experimental data. Three representative maneuvers are considered for this purpose, including indoor and outdoor experiments.