Identification of Pacejka's coefficients through full vehicle experimental tests

A methodology aimed at identifying the MF-Tyre model coefficients for the steady-state pure cornering condition is presented in this paper. Only the measurements carried out on board vehicle during standard handling manoeuvres (step-steer) are considered by the identification procedure. The proposed methodology is made of three subsequent steps. During the first phase the axles cornering forces are identified through an extended Kalman filter. Then the vertical loads and the slip angles at each tire are estimated. The results of these two steps are passed as an input to the last phase, during which through a constrained minimization approach, the MF coefficients are identified. The identification procedure has been applied to the experimental data collected on an instrumented sport car.