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

Te-Sheng Hsiao, Je Wei Yang

研究成果: Conference contribution同行評審

4 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2016 American Control Conference, ACC 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面7573-7578
頁數6
ISBN(電子)9781467386821
DOIs
出版狀態Published - 28 7月 2016
事件2016 American Control Conference, ACC 2016 - Boston, United States
持續時間: 6 7月 20168 7月 2016

出版系列

名字Proceedings of the American Control Conference
2016-July
ISSN(列印)0743-1619

Conference

Conference2016 American Control Conference, ACC 2016
國家/地區United States
城市Boston
期間6/07/168/07/16

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