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Robust estimation of maximum tire-road friction coefficient considering road surface irregularity

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Abstract

An accurate estimation of the maximum tire-road friction coefficient may provide higher performance in a vehicle active safety control system. Unfortunately, real-time tire-road friction coefficient estimation is costly and necessitates additional sensors that must be installed and maintained at all times. This paper proposes an advanced longitudinal tire-road friction coefficient estimation method that is capable of considering irregular road surfaces. The proposed algorithm uses a stiffness based estimation method, however, unlike previous studies, improvements were made by suggesting a third order model to solve problems related to nonlinear mu-slip curve. To attain the tire-road friction coefficient, real-time normalized force is obtained from the force estimator as exerted from the tire in the low slip region using the recursive least squares method. The decisive aspect of using the suggested algorithm lies in its low cost and versatility. It can be used under irregular road conditions due to its capability of easily obtaining wheel speed and acceleration values from production cars. The newly improved algorithm has been verified to computer simulations as well as compact size cars on dry asphalt conditions.

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Abbreviations

F :

tire force, N

λ x :

longitudinal tire slip ratio, −

V :

velocity, km/h

T o :

output shaft torque, Nm

m s, m u :

sprun/unsprung mass, kg

h :

height of the mass center, m

\(\ddot x_{cg} \) :

longitudinal acceleration, m/s2

l f,r :

distance center to front and rear wheels, m

z s :

normal position at the sprung mass, m

z u :

normal position at the un-sprung mass, m

z r :

normal position at the road, m

b s :

damping constant of suspension, Ns/m

k s :

spring constant of suspension, N/m

S :

stiffness, −

K(t):

update gain, −

P(t):

error covariance, −

λ :

forgetting factor, −

ε s,e :

curve fitting trigger/end signal, −

x, y, z :

direction of vehicle longitudinal/lateral/vertical

ω :

wheel

m :

measured value

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Authors and Affiliations

  1. School of Mechanical, Aerospace & System Engineering, KAIST, Daejeon, 34141, Korea

    K. Han, Y. Hwang, E. Lee & S. Choi

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  1. K. Han
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  2. Y. Hwang
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  3. E. Lee
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  4. S. Choi
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Correspondence to S. Choi.

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Han, K., Hwang, Y., Lee, E. et al. Robust estimation of maximum tire-road friction coefficient considering road surface irregularity. Int.J Automot. Technol. 17, 415–425 (2016). https://doi.org/10.1007/s12239-016-0043-8

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  • DOI: https://doi.org/10.1007/s12239-016-0043-8

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