Dynamic friction model-based tire-road friction estimation and emergency braking control

被引：95
作者：
Alvarez, L [1 ]
Yi, JG
Horowitz, R
Olmos, L
机构：
[1] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico
[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2005年 / 127卷 / 01期
关键词：
automotive control; adaptive control; nonlinear observers;
D O I：
10.1115/1.1870036
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.
引用
收藏
页码：22 / 32
页数：11
相关论文
共 20 条
  • [1] Safe platooning in automated highway systems part I: Safety regions design
    Alvarez, L
    Horowitz, R
    [J]. VEHICLE SYSTEM DYNAMICS, 1999, 32 (01) : 23 - 55
  • [2] Bakker E., 1987, 870421 SAE INT
  • [3] Burckhardt M., 1987, Lecture Scriptum
  • [4] Carbaugh J, 1997, P AMER CONTR CONF, P2041, DOI 10.1109/ACC.1997.611048
  • [5] Choi W, 2001, 2001 IEEE INTELLIGENT TRANSPORTATION SYSTEMS - PROCEEDINGS, P70, DOI 10.1109/ITSC.2001.948632
  • [6] Claeys X, 2001, 2001 IEEE INTELLIGENT TRANSPORTATION SYSTEMS - PROCEEDINGS, P483, DOI 10.1109/ITSC.2001.948705
  • [7] de Wit C.Canudas., 1999, 38 C DECISION CONTRO, P3746, DOI DOI 10.1109/CDC.1999.827937
  • [8] A NEW MODEL FOR CONTROL OF SYSTEMS WITH FRICTION
    DEWIT, CC
    OLSSON, H
    ASTROM, KJ
    LISCHINSKY, P
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (03) : 419 - 425
  • [9] GERDES JC, 1995, PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6, P165
  • [10] Slip-based tire road friction estimation
    Gustafsson, F
    [J]. AUTOMATICA, 1997, 33 (06) : 1087 - 1099
12