Robust tire forces estimation system

A tire state estimation system for estimating normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle, comprising:

• the vehicle including a CAN-bus;
• a plurality of sensors mounted to the vehicle and in electronic communication with the CAN-bus;
• the sensors generating input sensor data, the input sensor data comprising:
• acceleration and angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, and yaw rate;
• a normal force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the normal force estimator being operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data;
• a lateral force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the lateral force estimator being operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data;
• and
• a longitudinal force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the longitudinal force estimator being operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data.