Abstract
This paper presents a novel real-time tire-road friction coefficient estimation method that is independent of vehicle longitudinal motion for ground vehicles with separable control of the front and rear wheels. The tire-road friction coefficient information is of critical importance for vehicle dynamic control systems and intelligent autonomous vehicle applications. In this paper, the vehicle longitudinal-motion-independent tire-road friction coefficient estimation method consists of three main components: 1) an observer to estimate the internal state of a dynamic LuGre tire model; 2) an adaptive control law with a parameter projection mechanism to track the desired vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and actively injected braking excitation signals; and 3) a recursive least square estimator that is independent of the control law, to estimate the tire-road friction coefficient in real time. Simulation results based on a high-fidelity CarSim full-vehicle model show that the system can reliably estimate the tire-road friction coefficient independent of vehicle longitudinal motion.
| Original language | English (US) |
|---|---|
| Article number | 5692858 |
| Pages (from-to) | 839-848 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Vehicular Technology |
| Volume | 60 |
| Issue number | 3 |
| DOIs | |
| State | Published - Mar 2011 |
| Externally published | Yes |
Keywords
- Adaptive control
- electric ground vehicle (EGV)
- in-wheel/hub motor
- motion-independent persistent excitation
- tire-road friction coefficient estimation
ASJC Scopus subject areas
- Automotive Engineering
- Aerospace Engineering
- Electrical and Electronic Engineering
- Applied Mathematics