Tyre effective radius and vehicle velocity estimation: a variable structure observer solution

This paper proposes an application of a variable structure observer for wheel effective radius and velocity of automotive vehicles. This observer is based on high order sliding approach allowing robustness and finite time convergence. Its originality consists in assuming a nonlinear relation between the slip ratio and the friction coefficient and providing an estimation of both variables, wheel radius and vehicle velocity, from measurement of wheel angular velocity and torque. These signals being available on major modern vehicle CAN (Controller Area Network) buses, this system does not require additional sensors. A simulation example is given to illustrate the relevance of this approach.