An adaptive sideslip angle observer considering tire-road friction adaptation is proposed in this paper. The single-track vehicle model with nonlinear tire characteristics is adopted. The tire parameters can be easily obtained through road test data without using special test rigs. Afterwards, this model is reconstructed and a high-gain observer (HGO) based on input-output linearisation is derived. The observer stability is analysed. Experimental results have confirmed that the HGO has a better computational efficiency with the same accuracy when compared with the extended Kalman filter and the Luenberger observer. Finally, a road friction adaptive algorithm based on vehicle lateral dynamics is proposed and validated through driving simulator data. As long as the tires work in the nonlinear region, the maximal friction coefficient could be estimated. This algorithm has excellent portability and is also suitable for other observers.


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    Titel :

    Sideslip angle estimation based on input-output linearisation with tire-road friction adaptation


    Weitere Titelangaben:

    Schiebewinkel-Schätzung auf Basis der Ein-Ausgabe-Linearisierung mit Reifen-Straße-Reibungsadaptation


    Beteiligte:
    Gao, Xiaojie (Autor:in) / Yu, Zhuoping (Autor:in) / Neubeck, Jens (Autor:in) / Wiedemann, Jochen (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 48 , 2 ; 217-234


    Erscheinungsdatum :

    2010


    Format / Umfang :

    18 Seiten, 11 Bilder, 1 Tabelle, 22 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Sideslip angle estimation based on input–output linearisation with tire–road friction adaptation

    Gao, Xiaojie / Yu, Zhuoping / Neubeck, Jens et al. | Taylor & Francis Verlag | 2010





    Estimation of Sideslip Angle with Tire-Road Friction Adaptation Using Nonlinear Observability Theory

    Xu, Fan / Chen, Hui / Wang, Xiang et al. | British Library Conference Proceedings | 2022