Iterative estimation of the tire-road friction coefficient and tire stiffness of each driving wheel

Te-Sheng Hsiao, Je Wei Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Real-time estimation of tire-road friction coefficients is essential for vehicular active safety systems to achieve better performance such that safe driving is guaranteed. However, real-time estimation of tire-road friction coefficients is challenging due to highly nonlinear and uncertain tire dynamics, and diverse operating conditions of tires. In this paper, we propose an iterative estimation scheme for each driving wheel based on the modified brush tire model which is suitable for the combined longitudinal and lateral motion and consists of only two parameters, i.e. the longitudinal stiffness and the tire-road friction coefficient. Two separate Lyapunov-based estimators are designed to estimate one parameter at a time, assuming the other is known. Then these two estimators are connected together to perform iterative estimation for both parameters. Simulations for various driving scenarios are carried out, including forward acceleration, simultaneous acceleration and turning, and split-μ test. The results show that satisfactory performance is achieved for each driving wheel despite the existence of non-parametric tire model uncertainties.

Original languageEnglish
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7573-7578
Number of pages6
ISBN (Electronic)9781467386821
DOIs
StatePublished - 28 Jul 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: 6 Jul 20168 Jul 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Conference

Conference2016 American Control Conference, ACC 2016
Country/TerritoryUnited States
CityBoston
Period6/07/168/07/16

Keywords

  • Brush tire model
  • Iterative estimation
  • Longitudinal stiffness estimation
  • Tire-road friction coefficient estimation

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