Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Figure 12

Estimated lateral tire forces based on the estimator D2 (estimator D2 is based on the transient tire model with yaw rate sensors). (a) Front left lateral tire force. (b) Front right lateral tire force. (c) Rear left lateral tire force. (d) Rear right lateral tire force.

(a)

(b)

(c)

(d)