Except for aerodynamic force and gravity, all other forces that act on a vehicle have to be transmiUed to the road by its tires. Tire-road friction information, in particular, the potential friction coeffieient plays a signifieant role for longitudinal and lateral vehicle dynamics. To obtain high performance of vehicle dynamics eontroll system (VDCS) and driver assistant systems (DAS) such as ABS, TCS, ESC, ACC and so on, the potential friction coeffieient is neeessary to be provided as a key parameter for such systems. The estimation technique of the potential friction coeffieient is mainly based on the three sensor clusters, i. e., in-vehicle standard sensors, tire sensors and environmental sensors. Without any additional or expensive sensor, the approach based on in-vehicle standard sensors can be expected by automobile industry more easily. In this work, the approach has been first studied and then by using the additionall sensor. In the thesis, the friction estimator has been at first proposed on horizontal surfaces according to in-vehicle standard sensors. The tire model with the specific parametrization for longitudinal and lateral dynamic has been developed. The stability behavior of observer-based numerical implementation has been analyzed and the observer-based solution to the stability problem has been proposed. Considering practical driving with different tire slip angles of front and real wheels, the improved observer scheme LADE based on lateral dynamics has been proposed to estimate potential friction coefficient for front and rear wheels. The observer scheme LODE has been deseribed to estimate potential friction potential coeffieient for each wheel in braking situations and for each rear wheel in accelerating situations. To enhance the estimation performance, based on the basic theory of fault diagnosis the estimation quality monitoring system (EQMS) has been proposed to solve a possibly false convergenee problem due to the uncertainties of the tire model and the inaccuracy of the system inputs. LADE and LODE have been integrated by using a fusion concept based on the classification of the driving situations. The friction estimator according to in-vehicle standard sensors has been tested with more than three-hundred testing datasets acquired in various driving maneuvers. According to the statistical test results, potential friction coefficient can be still correetly estimated during the time when the corresponding quality flag equals to 1 . LADE and LODE have been tested with more than threehundred testing datasets in lateral and longitudinal dynamics and in combined situations of the longitudinal and lateral dynamics. The results of the statistical test have been described. LADE with the same parametrization for the test vehicle BMW 328i has been additionally tested with the testing database from the test vehicle Audi AS. The statistical test results with BMW and Audi datasets have shown that LADE can correetly estimate potential friction coeffieient with the valid quality flag. Based on the applied situation-dependent EKF, the estimation of the potential friction coefficient has been extended on banked and inclined road surfaees. According to the IMU sensor cluster, the EKF are applied to estimate the pitch and roll angles if the vehicle moves on a banked and inclined road surface. By using the estimated angles, the gravity influenee in longitudinal and lateral accelerations measured by the sensors on the vehiele body can be compensated. The test results have shown that the friction estimator with the EKF can correctly estimate potential friction coeffieient when vehicle moves on banked or inclined road surfaces.


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    Titel :

    Model-based tire-road friction estimation for passenger vehicles


    Beteiligte:
    Ning Bian (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    208 Seiten, 75 Bilder, 23 Tabellen, 154 Quellen




    Medientyp :

    Hochschulschrift


    Format :

    Print


    Sprache :

    Englisch





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