International audience

This paper presents a robust observer design methodology to estimate tire forces in heavy-duty vehicles. The proposed methodology uses low-cost sensors and observer-based numerical differentiators. In addition to the already available sensors, low-cost sensors from the CAN bus are employed to get additional measurements. Sliding mode differentiators are used to optimize the sensors' configuration. Validation of the proposed estimation methodology is made by comparing the results with that generated using the PROSPER software simulator. The finite-time convergence with small estimation error suggests that the proposed methodology is valid and can be applied in real time.

In this paper, an original method about heavy vehicles rollover risk prediction is presented and validated experimentally. It is based on the calculation of the LTR (load transfer ratio) which depends on the estimated vertical forces using high order sliding mode observers. The validation tests were carried out on an instrumented truck rolling on the road at various speeds and lane-change manoeuvres. Many scenarios have been experienced: driving on straight line, curve line and zigzag to emphasize the rollover phenomenon and its prediction to set off an alarm to the driver.

Vehicle motion simulation correctness for example for accident reconstruction or vehicle controllability analysis on actual roads can be obtained only if valid road profile and tire road friction model are input. With respect to road profile a new method based on Sliding Mode Observers has been developed and compared with two inertial methods.