| ONLINE DETECTION OF TOE ANGLE MISALIGNMENT BASED ON
LATERAL TIRE FORCE AND TIRE ALIGNING MOMENT |
| Hwangjae Lee , Seibum Ben Choi |
| Department of Mechanical Engineering, KAIST |
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| ABSTRACT |
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Wheel alignment of a vehicle composed of toe, camber and caster is essential for stable driving. Among them,
the toe angle can be easily adjusted in many commercial vehicles when misaligned. However, there have been many
difficulties for a driver to directly detect the misalignment of the toe angle. To solve this problem, this paper proposes a novel
system that detects misaligned toe angle in real-time by utilizing the lateral tire force and tire aligning moment. The system is
largely divided into the lateral tire force model construction, tire aligning moment model construction, and misalignment
detection. During the lateral tire force model and the tire aligning moment model construction, linearized recursive least
squares are used to identify parameters necessary for the building of the models. Afterwards, during the misalignment
detection, the misaligned toe angle is detected in real-time without additional sensors by estimating the slip angle of each
wheel reflecting the toe angle effect based on these two models. The proposed system is verified by the vehicle dynamics
software CarSim, and the simulation results show that misaligned toe angle can be successfully detected in real-time while
driving. |
| Key Words:
Wheel alignment, Recursive least squares, Parameter adaptation, Camber, Toe, Slip angle |
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Corresponding Author.
Seibum Ben Choi , Email. 
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