Tyre curve estimation in slip-controlled braking

Miller, Jonathan I.; Cebon, David

doi:10.1177/0954407015585934

Cited by 8 publications

(14 citation statements)

References 40 publications

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“…Although this idealised performance could never be completely realised in the presence of disturbances, noise, uncertain parameters and bandwidth limits, it is a reasonable approximation of current high-bandwidth prototype systems. Accurate regulation of slip has been demonstrated in real vehicle tests with the CVDC's prototype system [11,22] and various methods have been proposed by which to estimate the optimum slip value for braking [10,23]. As SC technology continues to improve, the idealised SC model should become an ever more accurate approximation.…”

Section: Idealised Slip Controlmentioning

confidence: 99%

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Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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'Slip control' braking has been shown to reduce the emergency stopping distance of an experimental heavy goods vehicle by up to 19%, compared to conventional electronic/anti-lock braking systems (EBS). However, little regard has been given to the impact of slip control braking on the vehicle's directional dynamics. This paper uses validated computer models to show that slip control could severely degrade directional performance during emergency braking. A modified slip control strategy, 'attenuated slip demand' (ASD) control, is proposed in order to rectify this. Results from simulations of vehicle performance are presented for combined braking and cornering manoeuvres with EBS and slip control braking with and without ASD control. The ASD controller enables slip control braking to provide directional performance comparable with conventional EBS while maintaining a substantial stopping distance advantage. The controller is easily tuned to work across a wide range of different operating conditions.

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Section: Idealised Slip Controlmentioning

confidence: 99%

“…'Slip control' (SC) braking strategies have been proposed for both HGVs and passenger cars [1][2][3][4][5][6][7][8][9][10][11]. SC shortens emergency stopping distances by accurately regulating longitudinal wheel slip to the point of maximum braking force.…”

Section: Introductionmentioning

confidence: 99%

Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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“…Other tyre models like Burckhardt, 13,14 UMTRI, 15 Dugoff 16 or new tyre model 17 have been used for estimating µ , which have been described in the literature.…”

Section: Introductionmentioning

confidence: 99%

Tyre–road friction μ-estimation based on braking force distribution

Paul

Velenis

Humbert

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this work, we develop a rules-based µ-estimation algorithm which is independent of any tyre model and may be employed independently by brake control systems of the vehicle. The algorithm proposed herein aims at estimating the tyre/road friction coefficient during braking, in particular when one or more of the tyres approach the limit of adhesion. The proposed algorithm avoids the use of any particular tyre model and the need to identify several parameters of such models. It uses measurements of variables that are typically available in modern vehicles, namely, vehicle demanded and actual deceleration and wheel angular velocity, as well as the brake force distribution applied by the brake system. The algorithm is validated through implementation in high-fidelity vehicle dynamics simulation and by experimental data collected during experiments with a brake-by-wire electric vehicle.

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“…Miller and Cebon 6 proposed tyre model fitting algorithms for this purpose. The four parameters of an HGV tyre model were fitted to the estimated braking force and slip data using a non-linear least-squares regression.…”

Section: Introductionmentioning

confidence: 99%

Extremum-seeking algorithms for the emergency braking of heavy goods vehicles

Morrison

Cebon

2017

Proceedings of the Institution of Mechanical Engineers, Part D:

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A pneumatic slip control braking system was demonstrated, which reduces the emergency stopping distances of heavy goods vehicles by up to 19%. Solutions are still required to set the optimal reference wheel slip for this system online, so that it can adapt to changing operating conditions. This paper considers whether the use of extremum-seeking algorithms is a feasible alternative approach to online tyre model fitting, the computational expense of which has, to date, inhibited real-time implementation. The convergence and the stability properties of a first-order sliding-mode extremum-seeking algorithm are discussed, and its tuneable parameters are recast as physically meaningful performance metrics. Computer simulations are conducted using a detailed braking system model, and hardware-in-the-loop simulations are conducted with prototype pneumatic slip control braking hardware for heavy goods vehicles. The extremum-seeking algorithm enables the braking system to achieve at least 95% of the maximum possible braking force for almost the entirety of an emergency stop. The robustness to parameter errors, the road roughness and the changing friction conditions are all explored.

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Tyre curve estimation in slip-controlled braking

Cited by 8 publications

References 40 publications

Combined emergency braking and turning of articulated heavy vehicles

Combined emergency braking and turning of articulated heavy vehicles

Tyre–road friction μ-estimation based on braking force distribution

Extremum-seeking algorithms for the emergency braking of heavy goods vehicles

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