An enhanced generic single track vehicle model and its parameter identification for 15 different passenger cars

The application of a single track vehicle model to describe the lateral vehicle dynamics is common for control applications. As a result of simplifications, the basic single track vehicle model uses different front and rear effective tyre characteristics, which are valid for one loading configuration only. A study is conducted for parameter identification of an enhanced single track model that uses a single tyre description for both axles. Accurate results are obtained using experimental data from steady state cornering, pseudo-random steer and lane change manoeuvres for two loading configurations. The identification method has been validated for 15 different vehicles, and the results show that the response is within the confidence interval of measured step steer vehicle responses. It is concluded that the proposed single track model is generally suitable for describing the vehicle response for different loading configurations when load dependencies are included in the tyre description and vehicle inertia properties.