Observer-based estimation of velocity and tire-road friction coefficient for vehicle control systems

A novel nonlinear observer for the estimation of vehicle velocity together with the tire-road friction coefficient is presented in this paper. The modular observer is designed based on a longitudinal tire force estimation approach and a lateral tire friction model. Compared to the state-of-art methods, the proposed observer design provides accurate estimation of the longitudinal velocity, lateral velocity, and the tire-road friction coefficient simultaneously. Particularly, the longitudinal tire forces are first estimated based on a filter observer. Then, according to the calculation of lateral tire forces, the nonlinear observer is proposed to estimate vehicle velocity and the tire-road friction coefficient. Moreover, the stability property of the observer is analyzed using a Lyapunov-based method. Simulation results validate the effectiveness of the proposed method.

[1]  Tielong Shen,et al.  Adaptive control approach to uncertain longitudinal tire slip in traction control of vehicles , 2008 .

[2]  Weihua Li,et al.  A novel cost effective method for vehicle tire-road friction coefficient estimation , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[3]  W. R. Pasterkamp,et al.  The Tyre As Sensor To Estimate Friction , 1997 .

[4]  L. Piroddi,et al.  Real-time identification of tire-road friction conditions , 2009 .

[5]  Yong Xu,et al.  A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations , 2014 .

[6]  Saied Taheri,et al.  An Integrated Cooperative Antilock Braking Control of Regenerative and Mechanical System for a Hybrid Electric Vehicle Based on Intelligent Tire , 2016 .

[7]  U Eichhorn,et al.  PREDICTION AND MONITORING OF TYRE/ROAD FRICTION , 1992 .

[8]  Min Wu,et al.  Estimation of Normalized Longitudinal Force for an Electric Cart Using Equivalent-Input-Disturbance Approach , 2014, IEEE Transactions on Vehicular Technology.

[9]  Antonella Ferrara,et al.  Combined vehicle velocity and tire-road friction estimation via sliding mode observers , 2012, 2012 IEEE International Conference on Control Applications.

[10]  Jian Chen,et al.  Control of regenerative braking systems for four-wheel-independently-actuated electric vehicles , 2017 .

[11]  Ying Peng,et al.  Nonlinear observer for longitudinal and lateral velocities of vehicles based on the estimation of longitudinal tire forces , 2016, 2016 American Control Conference (ACC).

[12]  Junmin Wang,et al.  Friction estimation on highway vehicles using longitudinal measurements , 2004 .

[13]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[14]  Louman Li,et al.  Vehicle velocity estimation for real-time dynamic stability control , 2009 .

[15]  John A. Grogg,et al.  Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients , 2006, IEEE/ASME Transactions on Mechatronics.

[16]  Rajesh Rajamani,et al.  GPS-based real-time identification of tire-road friction coefficient , 2002, IEEE Trans. Control. Syst. Technol..

[17]  Junmin Wang,et al.  Tire–road friction coefficient and tire cornering stiffness estimation based on longitudinal tire force difference generation , 2013 .

[18]  Jaewan Lee,et al.  Enhanced maximum tire-road friction coefficient estimation based advanced emergency braking algorithm , 2015, 2015 IEEE Intelligent Vehicles Symposium (IV).

[19]  Sungbok Kim,et al.  Systematic robustness analysis of least squares mobile robot velocity estimation using a regular polygonal optical mouse array , 2012 .

[20]  Hans B. Pacejka,et al.  Tire and Vehicle Dynamics , 1982 .

[21]  Tor Arne Johansen,et al.  Vehicle velocity estimation using nonlinear observers , 2006, Autom..

[22]  K. Hedrick,et al.  Real-time slip-based estimation of maximum tire-road friction coefficient , 2004, IEEE/ASME Transactions on Mechatronics.

[23]  Zhongke Shi,et al.  Robust Adaptive Backstepping Controller Design for Aircraft Autonomous Short Landing in the Presence of Uncertain Aerodynamics , 2018 .

[24]  Gianpiero Mastinu,et al.  Analysis of the lateral dynamics of a vehicle and driver model running straight ahead , 2017, Nonlinear Dynamics.

[25]  Junmin Wang,et al.  Vehicle Lateral Velocity and Tire-Road Friction Coefficient Estimation , 2012 .

[26]  Fei Wang,et al.  Implementation of EKF for Vehicle Velocities Estimation on FPGA , 2013, IEEE Transactions on Industrial Electronics.

[27]  Junmin Wang,et al.  Real-Time Estimation of Center of Gravity Position for Lightweight Vehicles Using Combined AKF–EKF Method , 2014, IEEE Transactions on Vehicular Technology.

[28]  Joachim Rudolph,et al.  Vehicle state estimation for anti-lock control with nonlinear observer , 2015 .

[29]  Sergio Rinaldi,et al.  Conflicts among $$\varvec{N}$$N armed groups: scenarios from a new descriptive model , 2018 .

[30]  Haiyan Hu,et al.  Stability and Hopf Bifurcation of Four-Wheel-Steering Vehicles Involving Driver's Delay , 2000 .

[31]  L. Imsland,et al.  Vehicle Velocity Estimation using Modular Nonlinear Observers , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[32]  Zhiyuan Liu,et al.  Design of a Nonlinear Observer for Vehicle Velocity Estimation and Experiments , 2011, IEEE Transactions on Control Systems Technology.

[33]  Qi Xin,et al.  Prediction and Recovery of Aircraft Unstable Nonlinear Phenomena Using Bifurcation Analysis and Backstepping Method , 2016 .

[34]  Stefano Manzoni,et al.  Measurement of contact forces and patch features by means of accelerometers fixed inside the tire to improve future car active control , 2006 .

[35]  Changsun Ahn,et al.  Robust estimation of road friction coefficient , 2011, Proceedings of the 2011 American Control Conference.