TY - GEN
T1 - Vehicle-longitudinal-motion-independent real-time tire-road friction coefficient estimation
AU - Chen, Yan
AU - Wang, Junmin
PY - 2010
Y1 - 2010
N2 - Tire-road friction coefficient information is of critical importance for vehicle dynamic control such as yaw stability control, trajectory tracking control, and rollover prevention for both manned and unmanned applications. Existing tire-road friction coefficient estimation approaches often require certain levels of vehicle longitudinal and/or lateral motion excitations (e.g. accelerating, decelerating, and steering) to satisfy the persistence of excitation condition for reliable estimations. Such excitations may undesirably interfere with vehicle motion controls. By utilizing the actuation redundancy, 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 front and rear wheels. A dynamic LuGre tire model is utilized in this study. An observer is proposed to estimate the internal state in a LuGre tire model. An adaptive control law with a parameter projection mechanism is designed to track the desired vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and an actively-injected persistently exciting input signal. An RLS estimator was employed to estimate the tire-road friction coefficient in real-time. Simulation results based on a full-vehicle CarSim® model show that the system can reliably estimate the tire-road friction coefficient independent of vehicle longitudinal motion.
AB - Tire-road friction coefficient information is of critical importance for vehicle dynamic control such as yaw stability control, trajectory tracking control, and rollover prevention for both manned and unmanned applications. Existing tire-road friction coefficient estimation approaches often require certain levels of vehicle longitudinal and/or lateral motion excitations (e.g. accelerating, decelerating, and steering) to satisfy the persistence of excitation condition for reliable estimations. Such excitations may undesirably interfere with vehicle motion controls. By utilizing the actuation redundancy, 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 front and rear wheels. A dynamic LuGre tire model is utilized in this study. An observer is proposed to estimate the internal state in a LuGre tire model. An adaptive control law with a parameter projection mechanism is designed to track the desired vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and an actively-injected persistently exciting input signal. An RLS estimator was employed to estimate the tire-road friction coefficient in real-time. Simulation results based on a full-vehicle CarSim® model show that the system can reliably estimate the tire-road friction coefficient independent of vehicle longitudinal motion.
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U2 - 10.1109/CDC.2010.5717437
DO - 10.1109/CDC.2010.5717437
M3 - Conference contribution
SN - 9781424477456
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2910
EP - 2915
BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 49th IEEE Conference on Decision and Control, CDC 2010
Y2 - 15 December 2010 through 17 December 2010
ER -