This paper presents a novel real-time tire-road friction coefficient estimation method that is independent of vehicle longitudinal motion for ground vehicles with separable control of the front and rear wheels. The tire-road friction coefficient information is of critical importance for vehicle dynamic control systems and intelligent autonomous vehicle applications. In this paper, the vehicle longitudinal-motion-independent tire-road friction coefficient estimation method consists of three main components: 1) an observer to estimate the internal state of a dynamic LuGre tire model; 2) an adaptive control law with a parameter projection mechanism to track the desired vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and actively injected braking excitation signals; and 3) a recursive least square estimator that is independent of the control law, to estimate the tire-road friction coefficient in real time. Simulation results based on a high-fidelity CarSim full-vehicle model show that the system can reliably estimate the tire-road friction coefficient independent of vehicle longitudinal motion.


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    Titel :

    Adaptive Vehicle Speed Control With Input Injections for Longitudinal Motion Independent Road Frictional Condition Estimation


    Beteiligte:
    Chen, Yan (Autor:in) / Wang, Junmin (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011


    Format / Umfang :

    10 Seiten, 35 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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