Vehicle sideslip and tyre/road friction are crucial variables for advanced vehicle stability control systems. Estimation is required since direct measurement through sensors is costly and unreliable. In this paper, we develop and validate a sideslip estimator robust to unknown road grip conditions. Particularly, the paper addresses the problem of rapid tyre/road friction adaptation when sudden road condition variations happen. The algorithm is based on a hybrid kinematic-dynamic closed-loop observer augmented with a tyre/road friction classifier that reinitializes the states of the estimator when a change of friction is detected. Extensive experiments on a four wheel drive electric vehicle carried out on different roads quantitatively validate the approach. The architecture guarantees accurate estimation on dry and wet asphalt and snow terrain with a maximum sideslip estimation error lower than 1.5 deg. The classifier correctly recognizes 87% of the friction changes; wrongly classifies 2% of the friction changes while it is unable to detect the change in 11% of the cases. The missed detections are due to the fact that the algorithm requires a certain level of vehicle excitation to detect a change of friction. The average classification time is 1.6 s. The tests also indicate the advantages of the friction classifiers on the sideslip estimation error.


    Access

    Download


    Export, share and cite



    Title :

    Hybrid Kinematic-Dynamic Sideslip and Friction Estimation



    Publication date :

    2023-01-01


    Remarks:

    doi:10.1115/1.4062159



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Estimation of Sideslip Angle Based on the Combination of Dynamic and Kinematic Methods

    Ma, Yuan Jie / Zhou, Xing Lin / Ran, Mao Ping | Springer Verlag | 2025


    Estimation of Sideslip Angle Based on the Combination of Dynamic and Kinematic Methods

    Ma, Yuan Jie / Zhou, Xing Lin / Ran, Mao Ping | Springer Verlag | 2025



    Tire-Road Friction Coefficient Estimation of Sideslip-Camber Combined Situation

    Suo, Yanru / Lu, Dang / Wu, Haidong et al. | IEEE | 2024