Robust Estimation of Road Frictional Coefficient

被引：101

作者：

Ahn, Changsun ^{[1
]}

Peng, Huei ^{[1
]}

Tseng, Hongtei Eric ^{[2
]}

机构：

[1] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA

[2] Ford Motor Co, Res & Adv Engn Div, Dearborn, MI 48121 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2013年 / 21卷 / 01期

关键词：

Active safety; brush tire model; friction coefficient; nonlinear observer; state estimation; RECURSIVE LEAST-SQUARES; VEHICLE MASS; IDENTIFICATION; GRADE;

D O I：

10.1109/TCST.2011.2170838

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Knowledge of tire force potential, i.e., tire-road frictional coefficient, is important for vehicle active safety systems because tire-road friction is an effective measure of the safety margin of vehicle dynamics. For vehicle handling dynamics, the frictional coefficient is highly coupled with tire slip angle, therefore, they need to be estimated simultaneously when the latter is not measured. This paper presents an estimation algorithm based on a robust adaptive observer methodology. Stability and robustness of this observer are analyzed numerically. The performance is analyzed using computer simulations and experiments under various road and steering conditions.

引用

页码：1 / 13

页数：13