Effect of cornering forces measurement on real-time estimation of tyre-road friction coefficient, vehicle sideslip angle and road bank angle

is presented. Specifically an Extended Kalman Filter (EKF) based on a single-track vehicle model is implemented. Available measurements include tyre cornering forces, which are added to the ones usually present on-board vehicle (steer angle, lateral acceleration and yaw rate). Tyre-road contact forces are assumed to be provided once per wheel turn by a smart tyre constituted of two tri-axial accelerometers glued on the tyre inner liner. Performance of the proposed observer is evaluated on a series of handling manoeuvres and its robustness to road bank angle and tyre parameters variation is discussed.