This paper presents a methodology to obtain tire and vehicle parameters suitable for handling simulations, describing the experimental activity needed, a vehicle model, and an appropriate identification algorithm. The vehicle model has four degrees of freedom and takes into account roll movements, load transfers among the four tires, and lateral tire forces, described by the Magic Formula with transient behavior. The resulting system has 10 state variables.
A vehicle was equipped with standard sensors used by vehicle manufacturers in handling maneuvers and wheel vector transducers that measure the displacements and angles of the four hubs with respect to the chassis. Handling tests were performed, and some of the results were used to identify the tire Magic Formula coefficients and part of the vehicle parameters, using an Extended Kalman filter. The remaining tests were used for the validation: the results showed good agreement between simulations and measurements, confirming the validity of the model and the accuracy of the parameters' estimation.