Nonlinear Tire Force Estimation and Road Friction Identification: Field Test Results

Ray, Laura E.

doi:10.4271/960181

Cited by 103 publications

(168 citation statements)

References 4 publications

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“…Several experiments were performed on high µ max = 0.9 and low mu µ max = 0. 4 Ray [111] presented a Bayesian Hypothesis selection process to infer the friction potential from a parameterised tyre model. The same approach is also reported in Rajamani et al [43].…”

Section: Lateral Dynamicsmentioning

confidence: 99%

“…A comprehensive discussion on pure lateral and combined (lateral and longitudinal) dynamics is presented in this subsection. The majority of the solutions proposed in the literature are predominantly model-based approaches [8,23,34,43,[98][99][100][101][102][103][104][105][106][107][108][109][110][111], and differ depending on the technical solution adopted to infer the friction potential from the parameterised friction or tyre force model (e.g., Unscented Kalman filter (UKF) [8] or Bayesian Hypothesis selection [43,111]). Apart from this dominant group, additional solutions have been proposed using data-based [3,112], rule-based [20], self-excitation [113], or wheel acceleration-based approaches [114].…”

Section: Lateral Dynamicsmentioning

confidence: 99%

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Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

2017

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Abstract:In this paper, a review on road friction virtual sensing approaches is provided. In particular, this work attempts to address whether the road grip potential can be estimated accurately under regular driving conditions in which the vehicle responses remain within low longitudinal and lateral excitation levels. This review covers in detail the most relevant effect-based estimation methods; these are methods in which the road friction characteristics are inferred from the tyre responses: tyre slip, tyre vibration, and tyre noise. Slip-based approaches (longitudinal dynamics, lateral dynamics, and tyre self-alignment moment) are covered in the first part of the review, while low frequency and high frequency vibration-based works are presented in the following sections. Finally, a brief summary containing the main advantages and drawbacks derived from each estimation method and the future envisaged research lines are presented in the last sections of the paper.

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Section: Lateral Dynamicsmentioning

confidence: 99%

Section: Lateral Dynamicsmentioning

confidence: 99%

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

2017

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“…Reference [11] estimates based on a different approach. Instead of using the slip information to derive a characteristic curve, [11] estimates the forces on the tires with an extended Kalman filter.…”

Section: Tire/road Friction Characteristicsmentioning

confidence: 99%

Adaptive emergency braking control with underestimation of friction coefficient

Alvarez

Horowitz

2002

IEEE Trans. Contr. Syst. Technol.

112

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Abstract-In this paper, a control scheme for emergency braking maneuvers in automated highway systems (AHSs) and a new online identification scheme to determine the tire-road friction characteristics of the vehicle are presented. The proposed controller determines the required pressure in the master cylinder of the braking system to achieve maximum deceleration during braking, based on the estimation of the tire-road friction characteristics and the overall braking system gain, for the given set of parameter estimates. With persistence of excitation, the identified static map between the tire longitudinal slip and the tire-road friction coefficient is guaranteed to converge to the actual map. When there is no persistence of excitation, and under a proper choice of initial conditions and adaptation gains, the proposed scheme underestimates the maximum coefficient of friction and its corresponding slip, and allows a conservative calculation of the safety critical intervehicle spacing.

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“…This estimation method includes two parts: the state estimation part, which is done by the EKF, and the friction identification part. Ray [10] developed the EKF method based on a 8 degrees of freedom (DOFs) vehicle dynamics model. Dakhlallah et al [11] proposed an EKF estimation method based on a simpler vehicle dynamics model, which only considers vehicle longitudinal dynamics, lateral dynamics and yaw dynamics.…”

Section: Introductionmentioning

confidence: 99%

A novel cost effective method for vehicle tire-road friction coefficient estimation

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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The tire-road friction coefficient is critical to vehicle longitudinal, lateral and roll dynamics and control because tire is the only contact part between the vehicle body and the road. However, direct measurement of tire-road friction coefficient is impossible in practice. This paper presents a novel cost effective method for vehicle tire-road friction coefficient estimation. This method only needs the measurements of the wheel angular velocity, the traction/brake torque and the longitudinal acceleration, which are all available from the commonly installed sensors in ordinary passenger vehicles, and can be used to estimate the individual tireroad friction coefficient. There are three steps in the proposed method. Firstly, the longitudinal slip ratio is estimated by using a nonlinear filter with the measured wheel angular velocity. Then the tire longitudinal force is estimated by using a Kalman filter with the measured traction/brake torque and longitudinal acceleration. At last, the friction coefficient is estimated by using the recursive least squares (RLS) method and the results obtained from the first two steps. Numerical simulations are provided to validate the effectiveness of the proposed method. It is shown by the simulation results that the proposed method is effective in estimating the tire-road friction coefficient. Abstract-The tire-road friction coefficient is critical to vehicle longitudinal, lateral and roll dynamics and control because tire is the only contact part between the vehicle body and the road. However, direct measurement of tire-road friction coefficient is impossible in practice. This paper presents a novel cost effective method for vehicle tire-road friction coefficient estimation. This method only needs the measurements of the wheel angular velocity, the traction/brake torque and the longitudinal acceleration, which are all available from the commonly installed sensors in ordinary passenger vehicles, and can be used to estimate the individual tire-road friction coefficient. There are three steps in the proposed method. Firstly, the longitudinal slip ratio is estimated by using a nonlinear filter with the measured wheel angular velocity. Then the tire longitudinal force is estimated by using a Kalman filter with the measured traction/brake torque and longitudinal acceleration. At last, the friction coefficient is estimated by using the recursive least squares (RLS) method and the results obtained from the first two steps. Numerical simulations are provided to validate the effectiveness of the proposed method. It is shown by the simulation results that the proposed method is effective in estimating the tire-road friction coefficient.

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Nonlinear Tire Force Estimation and Road Friction Identification: Field Test Results

Cited by 103 publications

References 4 publications

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

Adaptive emergency braking control with underestimation of friction coefficient

A novel cost effective method for vehicle tire-road friction coefficient estimation

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