Adaptive Vehicle Speed Control With Input Injections for Longitudinal Motion Independent Road Frictional Condition Estimation

被引：143
作者：
Chen, Yan [1 ]
Wang, Junmin [1 ]
机构：
[1] Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA
来源：
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2011年 / 60卷 / 03期
关键词：
Adaptive control; electric ground vehicle (EGV); in-wheel/hub motor; motion-independent persistent excitation; tire-road friction coefficient estimation; CRUISE-CONTROL-SYSTEMS; DC WHEEL MOTORS; ELECTRIC VEHICLES; TORQUE CONTROL; SAFETY; DESIGN; MODEL;
D O I：
10.1109/TVT.2011.2106811
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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 the front and rear wheels. The tire-road friction coefficient information is of critical importance for vehicle dynamic control systems and intelligent autonomous vehicle applications. In this paper, the vehicle longitudinal-motion-independent tire-road friction coefficient estimation method consists of three main components: 1) an observer to estimate the internal state of a dynamic LuGre tire model; 2) an adaptive control law with a parameter projection mechanism to track the desired vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and actively injected braking excitation signals; and 3) a recursive least square estimator that is independent of the control law, to estimate the tire-road friction coefficient in real time. Simulation results based on a high-fidelity CarSim full-vehicle model show that the system can reliably estimate the tire-road friction coefficient independent of vehicle longitudinal motion.
引用
收藏
页码：839 / 848
页数：10
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