A real-time approach to robust identification of tyre–road friction characteristics on mixed-μ roads

Tire Road Friction Coefficient Estimation: Review and Research Perspectives

“…For example, state observers based on the LuGre dynamic model [41][42][43], the Burckhardt model [44][45][46][47], the Magic Formula model [48,49], the quarter wheel model [50], and the tire torsion model [51] were designed to identify the TRFC. RLS methods, which are mainly based on the brush model [37], the Burckhardt model [52,53], longitudinal vehicle model [54][55][56][57][58], single-wheel model [59] and six-degree-of-freedom (DOF) vehicle model [60], have been extensively studied in recent years. It is well known that the RLS usually has only one degree of freedom to adjust the adaptivity of the filter, which may limit its application.…”

Brush tyre models for large camber angles and steering speeds

“…on the structure of the speed field. The IC is instead not formally affected by the contact patch shape and reads as in (15).…”

“…Some of them have been derived from more generalising models employed in the context of tribological studies. Perhaps, the most famous friction-based tyre model is the LuGre [13], initially developed during a collaboration between the Lund and Grenoble universities and then extended by several authors towards disparate applications, including vehicle dynamics and other automotive-related fields [14][15][16][17][18][19][20]. In particular, in the LuGre formulation, the planar contact stresses exerted at the tyre-road interface and the friction-induced hysteresis are described in terms of an inertial friction state which can be identified with the deformation of a material point of the tyre tread contacting the ground.…”

Trends in vehicle motion control for automated driving on public roads

“…In addition to this, the estimation and compensation of the brake linings coefficient of friction in modern brake-by-wire systems represent another challenging task owing to the stochastic characteristic of the frictional contact dynamics [108]. Recent publications on real-time robust identification of tire and brake linings friction can be found in [109,110] and [111], respectively.…”