Simultaneous Estimation of Road Profile and Tire Road Friction for Automotive Vehicle

The longitudinal motion control of automotive vehicles is heavily reliant on information about the time-varying tire road friction coefficient. In the presence of varying road roughness profiles, the effective vertical load on each wheel varies dynamically, influencing the tire friction. In this paper, we integrated the vertical and longitudinal dynamics of a quarter wheel to form an integrated nonlinear model. In the modeled dynamics, the time-varying random road profile and the tire friction are treated as unknown inputs. To estimate these unknown inputs and states simultaneously, a combination of nonlinear Lipschitz observer and modified super-twisting algorithm (STA) observer is developed. Under Lipschitz conditions for the nonlinear functions, the convergence of the estimation error is established. Simulation results performed with the high-fidelity vehicle simulation software CarSim demonstrate the effectiveness of the proposed scheme in the estimation of states and unknown inputs.

[1]  Leonid M. Fridman,et al.  High-order sliding modes observers for linear autonomous-switched systems with unknown inputs , 2012, 2012 12th International Workshop on Variable Structure Systems.

[2]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[3]  Kalyana Chakravarthy Veluvolu,et al.  Nonlinear sliding mode high-gain observers for fault estimation , 2011, Int. J. Syst. Sci..

[4]  Rajesh Rajamani,et al.  Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients , 2012 .

[5]  Honghai Liu,et al.  State of the Art in Vehicle Active Suspension Adaptive Control Systems Based on Intelligent Methodologies , 2008, IEEE Transactions on Intelligent Transportation Systems.

[6]  Jaime A. Moreno,et al.  Strict Lyapunov Functions for the Super-Twisting Algorithm , 2012, IEEE Transactions on Automatic Control.

[7]  Hocine Imine,et al.  Sliding mode observers to heavy vehicle vertical forces estimation , 2008 .

[8]  L. Nadai,et al.  Parameter Estimation of Coupled Road-Vehicle Systems , 2007, 2007 2nd International Workshop on Soft Computing Applications.

[9]  Leonid M. Fridman,et al.  Variable Gain Super-Twisting Sliding Mode Control , 2012, IEEE Transactions on Automatic Control.

[10]  Yeng Chai Soh,et al.  High-Gain Observers With Sliding Mode for State and Unknown Input Estimations , 2009, IEEE Transactions on Industrial Electronics.

[11]  Franck Plestan,et al.  Synthesis and Application of Nonlinear Observers for the Estimation of Tire Effective Radius and Rolling Resistance of an Automotive Vehicle , 2013, IEEE Transactions on Control Systems Technology.

[12]  A. J. Koshkouei,et al.  Sliding mode state observation for non-linear systems , 2004 .

[13]  Tesheng Hsiao,et al.  Robust Estimation and Control of Tire Traction Forces , 2013, IEEE Transactions on Vehicular Technology.

[14]  R. Rajamani.  Observers for Lipschitz nonlinear systems , 1998, IEEE Trans. Autom. Control..

[15]  Michael Defoort,et al.  Higher-order sliding mode observer for estimation of tyre friction in ground vehicles , 2014 .

[16]  Yeng Chai Soh,et al.  Multiple sliding mode observers and unknown input estimations for Lipschitz nonlinear systems , 2011 .

[17]  Seibum Choi,et al.  Linearized Recursive Least Squares Methods for Real-Time Identification of Tire–Road Friction Coefficient , 2013, IEEE Transactions on Vehicular Technology.

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

[19]  Yeng Chai Soh,et al.  Fault reconstruction and state estimation with sliding mode observers for Lipschitz non-linear systems , 2011 .

[20]  Gregory D. Buckner,et al.  Sliding mode observation and control for semiactive vehicle suspensions , 2005 .

[21]  Uwe Kiencke,et al.  Automotive Control Systems , 2005 .

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

[23]  Hosam K. Fathy,et al.  Sprung mass estimation for off-road vehicles via base-excitation suspension dynamics and recursive least squares , 2009, 2009 American Control Conference.

[24]  C. Canudas-de-Wit.  Comments on "A new model for control of systems with friction" , 1998, IEEE Trans. Autom. Control..

[25]  Wei Tech Ang,et al.  Estimation of Physiological Tremor from Accelerometers for Real-Time Applications , 2011, Sensors.

[26]  Yan Chen,et al.  Adaptive Vehicle Speed Control With Input Injections for Longitudinal Motion Independent Road Frictional Condition Estimation , 2011, IEEE Transactions on Vehicular Technology.

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

[28]  Guillermo O. García,et al.  Maximization of the Traction Forces in a 2WD Electric Vehicle , 2011, IEEE Transactions on Vehicular Technology.

[29]  Arie Levant,et al.  High-Order Sliding-Mode Observer for Linear Systems with Unknown Inputs , 2006, MED 2006.

[30]  P. S. Heyns,et al.  Reconstruction of road defects and road roughness classification using vehicle responses with artificial neural networks simulation , 2010 .

[31]  Sophie Keller.  Automotive Control Systems For Engine Driveline And Vehicle , 2016 .

[32]  Chee Pin Tan,et al.  Sliding mode observers for fault detection and isolation , 2002 .