Estimation of Side Wind Disturbances in Automotive Vehicles

Abstract: This work is focused on a system which aims at estimating and attenuating side wind acting on a vehicle. The side wind disturbance is estimated using a disturbance observer. This thesis investigates the robustness towards sensor offset and parameter error. A few possibilities for reducing the effects of sensor offset are presented. A large part of the thesis is dedicated to on line identification of tyre parameters. Recursive Least Squares and Multiple Model Estimation are implemented in Matlab/Simulink and evaluated using measurement data. Both methods are found capable of distinguishing between ordinary tyres and winter tyres. A feedforward controller which uses the side wind estimate is also designed and evaluated in simulation.