Simultaneous vehicle dynamics state estimation using pitch-rate sensor
Patent, 2020

There is provided a method for estimating friction between a tire of a vehicle and a road surface, the method comprising acquiring, a front wheel axle torque, a rear wheel axle torque, a vehicle longitudinal acceleration, a vehicle pitch rate and wheel rotational velocities. The method further comprises determining a front wheel normal force and a rear wheel normal force, based on a center of gravity of the vehicle and the longitudinal acceleration; determining a longitudinal tire stiffness, jointly determining a vehicle longitudinal velocity, based on the wheel rotational velocities and vehicle longitudinal acceleration, and a vehicle pitch angle relative to the horizontal plane based on the vehicle pitch rate; and determining a friction coefficient between tires and ground based on the front and rear wheel axle torque, the front wheel normal force and the joint estimation of pitch angle and vehicle longitudinal velocity. There is also provided a system for performing the described method.

pitch rate sensor, vehicle motion state estimation, road friction


Mats Jonasson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Tony Gustafsson

Volvo Cars

Volvo Cars





Mer information