Adaptive Unified Monitoring System Design for Tire-Road Information

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Shuo Cheng ◽  
Ming-ming Mei ◽  
Xu Ran ◽  
Liang Li ◽  
Lin Zhao
Keyword(s):  
Friction Coefficient ◽  
Monitoring System ◽  
Estimation Method ◽  
Recursive Least Squares ◽  
Vehicle Body ◽  
Friction Forces ◽  
Road Friction ◽  
Tire Forces ◽  
Tire Friction ◽  
Road Friction Coefficient

Knowledge of the tire-road information is not only very crucial in many active safety applications but also significant for self-driving cars. The tire-road information mainly consists of tire-road friction coefficient and road-tire friction forces. However, precise measurement of tire-road friction coefficient and tire forces requires expensive equipment. Therefore, the monitoring of tire-road information utilizing either accurate models or improved estimation algorithms is essential. Considering easy availability and good economy, this paper proposes a novel adaptive unified monitoring system (AUMS) to simultaneously observe the tire-road friction coefficient and tire forces, i.e., vertical, longitudinal, and lateral tire forces. First, the vertical tire forces can be calculated considering vehicle body roll and load transfer. The longitudinal and lateral tire forces are estimated by an adaptive unified sliding mode observer (AUSMO). Then, the road-tire friction coefficient is observed through the designed mode-switch observer (MSO). The designed MSO contains two modes: when the vehicle is under driving or brake, a slip slope method (SSM) is used, and a recursive least-squares (RLS) identification method is utilized in the SSM; when the vehicle is under steering, a comprehensive friction estimation method is adopted. The performance of the proposed AUMS is verified by both the matlab/simulinkCarSim co-simulation and the real car experiment. The results demonstrate the effectiveness of the proposed AUMS to provide accurate monitoring of tire-road information.

A New Method for Estimating Road Friction Coefficient

2010 ◽  
Vol 139-141 ◽  
pp. 2622-2625
Author(s):  
Fen Lin
Keyword(s):  
Friction Coefficient ◽  
Traffic Safety ◽  
Sliding Mode ◽  
Estimation Algorithm ◽  
Longitudinal Force ◽  
Recursive Least Squares ◽  
Force Estimation ◽  
Road Friction ◽  
Vehicle Activity ◽  
Road Friction Coefficient

Road friction coefficient is a critical component in traffic safety. The estimation of tire–road friction coefficient at tires allows the control algorithm in vehicle activity system to adapt to external driving conditions. This paper develops a new tire–road friction coefficient estimation algorithm based on tire longitudinal force estimation and tire slip estimation. Vehicle tire longitudinal forces are estimated by sliding mode observer combined with Kalman filter. Based on the tire forces estimation, road friction coefficient is estimated by recursive least squares algorithm (RLS). The test conditions which contain different friction level road are established in ADAMS/Car. The conclusions validate the reliability and efficiency of the proposed method for estimating the friction coefficient in different adhesion level roads. The research also indicates the theory of slip slope can also be reappeared in virtual experiment based on ADAMS.

Slip-Slope Estimation of Mutative Road Friction Coefficient Based on Unscented Particle Filter

2012 ◽  
Vol 249-250 ◽  
pp. 337-342
Author(s):  
Fen Lin ◽  
Chao Huang
Keyword(s):  
Friction Coefficient ◽  
Particle Filter ◽  
Dynamic Model ◽  
Estimation Method ◽  
Accurate Information ◽  
Vehicle Dynamic ◽  
Unscented Particle Filter ◽  
Road Friction ◽  
Vehicle Dynamic Model ◽  
Road Friction Coefficient

The accurate information of road friction coefficient allows the control algorithm in vehicle activity system to adapt to external driving conditions. This paper developed a slip-slope friction coefficient estimation method based on Unscented Particle Filter. A 7-DOF non-linear vehicle dynamic model was established. The normal force of tire was approximately calculated from the vehicle dynamic model; the slip and longitudinal force of tire were estimated through a combination of tire mechanical model and UPF(Unscented Particle Filter) method. Finally slip-slopes of different adhesion level roads was obtained. Through virtual test environment in ADAMS/Car, the estimation method proposed was verified to be effective and reliable under various road condition. From the method the relationships between the slip-slope and road friction coefficient are achieved.

Wireless Piezoelectric Sensor for the Measurement of Tire Deformations and the Estimation of Slip Angle

2009 ◽  
Author(s):  
Gurkan Erdogan ◽  
Lee Alexander ◽  
Rajesh Rajamani
Keyword(s):  
Friction Coefficient ◽  
Piezoelectric Sensor ◽  
Slip Angle ◽  
Lateral Deformation ◽  
Test Rig ◽  
Slip Ratio ◽  
Lateral Deflection ◽  
Road Friction ◽  
Tire Forces ◽  
Road Friction Coefficient

This paper introduces a wireless piezoelectric tire sensor whose readings can be utilized for the estimation of various tire variables such as slip angle, slip ratio, tire forces and tire road friction coefficient. In this paper, the proposed sensor is demonstrated for the estimation of tire slip angle. Lateral deformation of the tire is decoupled from radial and longitudinal tire deformations using a special sensor design. The decoupled lateral deflection profile of the tire is employed to estimate the slip angle. A new tire test rig is constructed to experimentally evaluate the performance of the developed sensor. Results show that the tire sensor can accurately estimate slip angles up to values of 5.0 degrees.

Tire Friction on Wet Roads

1976 ◽  
Vol 49 (3) ◽  
pp. 862-908 ◽  
Author(s):  
K. A. Grosch ◽  
A. Schallamach
Keyword(s):  
Hydrodynamic Lubrication ◽  
Vehicle Control ◽  
Critical Conditions ◽  
Frictional Properties ◽  
Road Surfaces ◽  
Road Friction ◽  
Tire Forces ◽  
The One ◽  
Tire Friction ◽  
Contact Pressures

Abstract Evidence accumulates that tire forces on wet roads, particularly when the wheel is locked, are determined by the dry frictional properties of the rubber on the one hand and by hydrodynamic lubrication in the contact area on the other. The probable reason why they are so clearly separable is that water is a poor lubricant, tending to separate into globules and dry areas under relatively small pressures. Road surfaces and tire profiles are, therefore, designed to create easy drainage and high local contact pressures. The influence of road friction on vehicle control well below the critical conditions is becoming more clearly understood; but more Investigations are required here, in particular under dynamic conditions.

Sign in / Sign up

Export Citation Format

Share Document