In this paper, a resonance frequency-based tire–road friction coefficient (TRFC) estimation method is proposed by considering the dynamics performance of the in-wheel motor drive system under small slip ratio conditions. A frequency response function (FRF) is deduced for the drive system that is composed of a dynamic tire model and a simplified motor model. A linear relationship between the squared system resonance frequency and the TFRC is described with the FRF. Furthermore, the resonance frequency is identified by the Auto-Regressive eXogenous model using the information of the motor torque and the wheel speed, and the TRFC is estimated thereafter by a recursive least squares filter with the identified resonance frequency. Finally, the effectiveness of the proposed approach is demonstrated through simulations and experimental tests on different road surfaces.
Tire–road friction coefficient estimation based on the resonance frequency of in-wheel motor drive system
Vehicle System Dynamics ; 54 , 1 ; 1-19
2016-01-02
19 pages
Article (Journal)
Electronic Resource
English
Automotive engineering | 2016
|Maximum tire-road friction coefficient estimation
TIBKAT | 2015
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