scholarly journals ADAPTIVE EMERGENCY BRAKING CONTROL WITH OBSERVER-BASED DYNAMIC TIRE/ROAD FRICTION MODEL AND UNDERESTIMATION OF FRICTION COEFFICIENT

2002 ◽  
Vol 35 (1) ◽  
pp. 211-216 ◽  
Author(s):  
Luis Alvarez ◽  
Jingang Yi ◽  
Roberto Horowitz ◽  
Luis Olmos
Keyword(s):  
Friction Coefficient ◽  
Friction Model ◽  
Emergency Braking ◽  
Road Friction ◽  
Braking Control

Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control

2004 ◽  
Vol 127 (1) ◽  
pp. 22-32 ◽  
Author(s):  
Luis Alvarez ◽  
Jingang Yi ◽  
Roberto Horowitz ◽  
Luis Olmos
Keyword(s):  
Internal State ◽  
Angular Speed ◽  
Friction Model ◽  
Dynamic Friction ◽  
Unknown Parameters ◽  
Emergency Braking ◽  
Road Friction ◽  
Braking Control ◽  
Friction Parameters ◽  
Adaptation Law

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.

scholarly journals Optimal emergency vehicle braking control based on dynamic friction model

2005 ◽  
Vol 3 (01) ◽  
Author(s):  
L. Olmos ◽  
L. Álvarez-Icaza
Keyword(s):  
Optimal Control ◽  
Friction Model ◽  
Minimum Time ◽  
Dynamic Friction ◽  
Emergency Vehicle ◽  
Emergency Braking ◽  
Control Scheme ◽  
Time Optimal ◽  
Braking Control ◽  
Optimal Control Scheme

A dynamic friction model for the tire-road interface is used in an optimal control scheme for emergency braking of vehicles. The controller sets a target relative velocity curve that the vehicle must track in order to achieve braking in minimum time. It is shown that this curve corresponds to the solution of a minimum time optimal control problem. The final goal of the control is to improve the safety levels in highway transportation.

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