Vehicle stability and active safety control depend heavily on tyre forces available on each wheel of a vehicle. Since tyre forces are strongly affected by the tyre–road friction coefficient, it is crucial to optimise the use of the adhesion limits of the tyres. This study presents a hybrid method to identify the road friction limitation; it contributes significantly to active vehicle safety. A hybrid estimator is developed based on the three degrees-of-freedom vehicle model, which considers longitudinal, lateral and yaw motions. The proposed hybrid estimator includes two sub-estimators: one is the vehicle state information estimator using the unscented Kalman filter and another is the integrated road friction estimator. By connecting two sub-estimators simultaneously, the proposed algorithm can effectively estimate the road friction coefficient. The performance of the proposed estimation algorithm is validated in CarSim/Matlab co-simulation environment under three different road conditions (high-μ, low-μ and mixed-μ). Simulation results show that the proposed estimator can assess vehicle states and road friction coefficient with good accuracy.


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    Title :

    Effective assessment of tyre–road friction coefficient using a hybrid estimator


    Contributors:
    Ren, Hongbin (author) / Chen, Sizhong (author) / Shim, Taehyun (author) / Wu, Zhicheng (author)

    Published in:

    Vehicle System Dynamics ; 52 , 8 ; 1047-1065


    Publication date :

    2014


    Size :

    19 Seiten, 15 Bilder, 1 Tabelle, 30 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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