| abstract |
The present invention relates to a method for estimating the parameters of a moving vehicle, said vehicle being provided with wheels having tires, the method including the measurement or estimation of the value of the angular speed of rotation of at least one wheel, and the measurement or estimation of the value of the torque applied to said wheel, characterized in that the method uses an observer of the dynamics of the wheel, which is based on the sliding mode control theory, and the input signals of which are the value of the angular speed of the wheel as well as the value of the torque applied to the wheel, and the estimated variables are the longitudinal speed v x of the wheel as well as the rolling radius R of the wheel. |