One important problem in tire modeling and its application to vehicle control is to quantitatively describe tire slip effect which is a dynamic interaction between the tire and road surface. Several tire slip models have been established, which can be divided as static models such as Bakker-Pacejka magic model and dynamic models such as LuGre model. It is generally recognized that the former provides a reasonably good curve-fitting from experimental data. However, the main difficulty in using those models is real-time estimation of the tire slip because it behaves as a random variable. It is impossible to estimate the tire slip exactly at each time instant. Even if this estimate is available, compensation for it in a controller is not easy. It is thus suggested that tire slip makes sense to longitudinal control only when it is considered statistically or on average. Based on this idea, a new definition of tire slip is proposed, which makes the real-time estimation and compensation practical. This method can also be applied to all-wheel-drive and/or all-wheel-brake vehicles without extra hardware installation. Two most important effects of tire slip on vehicle longitudinal motion, i.e. vehicle acceleration/deceleration capability and vehicle moving distance measurements, have been considered. Methods to compensate for the tire slip in longitudinal control have been proposed. Some experimental tests have been carried out.


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    Titel :

    Real-time estimation and compensation of road slip for longitudinal control


    Beteiligte:
    Lu, Xiao-Yun (Autor:in) / Hedrick, J.K. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2003


    Format / Umfang :

    17 Seiten, 19 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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