Emergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement

A diagnosis-based approach for tire–road forces and maximum friction estimation

“…Canudas-deWit, Tsiotras, Velenis, Basset, & Gissinger, 2002;Kiencke & Daib, 1995;Pasterkamp & Pacejka, 1995;Svendenius, 2007or Yi, Alvarez, Claeys, & Horowitz, 2003. Extensive testing is required however to determine the parameters of those analytic models.…”

Optimal braking and estimation of tyre friction in automotive vehicles using sliding modes

“…Most are passive, in the sense that they make use of available data from existing sensors to compute an estimate of the tyre/road friction and assume the parameters related to the vehicle and the tyres are constant. The methods from Kiencke (1993), Gustafsson (1997), Ray (1997), Canudas-de-Wit et al (2003, Yi et al (2003), Alvarez et al (2005) use observers designed around mathematical models of friction and simple vehicle models. Ray (1997) primarily uses a Kalman filter but Kiencke (1993) also examines a least squares approach.…”

“…Ray (1997) primarily uses a Kalman filter but Kiencke (1993) also examines a least squares approach. Extensive work by Canudasde-Wit et al (2003) and Yi et al (2003) has used a LuGre friction model (Canudas-de-Wit et al 1995) and investigates nonlinear adaptive observers based on measurements of wheel speed. In terms of vehicle safety, precise and reliable braking is very important.…”

“…The algorithm is such that by choosing suitable initial conditions and parameter adaptation gains, it underestimates the maximum coefficient of friction and slip in the situation when there is a lack of persistency of excitation. A second method proposed by Yi et al (2003) uses the LuGre friction model from Canudas-de-Wit et al (1995) and proposed an adaptive observer based on passivity methods. The approach also assumes that only information about angular velocity is known.…”

Dual Mode Vehicle with In-Wheel Motor: Regenerative Braking Optimization

“…With a classical architecture, the estimation of the friction force is complex because of immeasurable parameters, as the torque applied to the wheel and need complex observers [5,6]. The torque output of the motor can be easily calculated from its current.…”