Adaptive vehicle speed control with input injections for longitudinal motion independent road frictional condition estimation

Yan Chen, Junmin Wang

Research output: Contribution to journalArticle

118 Citations (Scopus)

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 languageEnglish (US)
Article number5692858
Pages (from-to)839-848
Number of pages10
JournalIEEE Transactions on Vehicular Technology
Volume60
Issue number3
DOIs
StatePublished - Mar 2011
Externally publishedYes

Fingerprint

Speed Control
Tire
Speed control
Tires
Friction Coefficient
Injection
Friction
Motion
Estimate
Ground vehicles
Vehicle Dynamics
Autonomous Vehicles
Dynamic Control
Least Squares Estimator
Braking
Adaptive Control
Wheel
Fidelity
Dynamic Systems
Observer

Keywords

  • Adaptive control
  • electric ground vehicle (EGV)
  • in-wheel/hub motor
  • motion-independent persistent excitation
  • tire-road friction coefficient estimation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Automotive Engineering
  • Computer Networks and Communications
  • Applied Mathematics

Cite this

Adaptive vehicle speed control with input injections for longitudinal motion independent road frictional condition estimation. / Chen, Yan; Wang, Junmin.

In: IEEE Transactions on Vehicular Technology, Vol. 60, No. 3, 5692858, 03.2011, p. 839-848.

Research output: Contribution to journalArticle

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