Vehicle active safety systems stabilize the vehicle by controlling tire forces. They work well only when the commanded tire forces are within the friction limit. Therefore, knowledge of the tire/road friction is important to improve the performance of vehicle active safety systems. This paper presents two methods to estimate the friction coefficient: one based on lateral dynamics, and one based on longitudinal dynamics. The two methods are then integrated to improve working range of the estimator and robustness. The first method is a nonlinear observer based on vehicle lateral/yaw dynamics and Brush Tire model, the second method is a recursive least squares method based on the relationship between tire longitudinal slip and traction force. The performance of the estimation algorithm is verified using test data under a wide range of friction and speed conditions.
Robust Estimation of Road Friction Coefficient
ACC, American Control Conference, 2011 ; 3948-3953
2011
6 Seiten, 22 Quellen
Conference paper
English
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