Lateral force Estimation
The lateral force is a critical element in the evaluation of vehicle stability. The measurement of this force for vehicle control is still an interesting subject for vehicle researchers. Some of these researchers have used specially modified sensors. However, these are still expensive, and its adjustment for commercial vehicles is still challenging.
In my research, the measurement of the lateral force is obtained by using the steering moment. By using the dynamics of a four-wheel, the relationship between the lateral force and the steering moment is derived. With GPMR 1, which has three wheels, and moment arm equation, the modified vehicle dynamics are used to derive the lateral force, and this has been verified through experiments.