Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
نویسندگان
چکیده
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. fDOI: 10.1115/1.1870036g
منابع مشابه
Adaptive Emergency Braking Control with Observer-based Dynamic Tire/road Friction Model and Underestimation of Friction Coefficient
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 an observerestimator for vehicle velocity, friction internal state and friction parameters. A Lyapunov-based stabilizing controller is designed to achieve near maximum brak...
متن کاملConstrained Nonlinear Estimation of Road Friction Coefficient and Wheel Slip for Control of Anti-Lock Braking System
In designing the anti-lock braking system (ABS), some states and parameters of vehicle system such as road friction of coefficient and wheel slip should be estimated due to lack of cost effective and reliable sensors for direct measurement. Because of nonlinear characteristics of vehicle dynamics and tire forces, development of a nonlinear estimation algorithm is necessary. However, considerati...
متن کاملEmergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement
A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LM...
متن کاملAdaptive emergency braking control with underestimation of friction coefficient
In this paper, a control scheme for emergency braking maneuvers in automated highway systems (AHSs) and a new online identification scheme to determine the tire–road friction characteristics of the vehicle are presented. The proposed controller determines the required pressure in the master cylinder of the braking system to achieve maximum deceleration during braking, based on the estimation of...
متن کاملDynamic Friction Models for Road/Tire Longitudinal Interaction
In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model [7]. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the fr...
متن کامل