TY - JOUR
T1 - Estimation of the tyre-road maximum friction coefficient and slip slope based on a novel tyre model
AU - Qi, Zhiquan
AU - Taheri, Saied
AU - Wang, Baofeng
AU - Yu, Hongxiao
N1 - Publisher Copyright:
© 2015 Taylor & Francis.
PY - 2015/4/3
Y1 - 2015/4/3
N2 - In this article, a new approach to estimate the vehicle tyre forces, tyre-road maximum friction coefficient, and slip slope is presented. Contrary to the majority of the previous work on this subject, a new tyre model for the estimation of the tyre-road interface characterisation is proposed. First, the tyre model is built and compared with those of Pacejka, Dugoff, and one other tyre model. Then, based on a vehicle model that uses four degrees of freedom, an extended Kalman filter (EKF) method is designed to estimate the vehicle motion and tyre forces. The shortcomings of force estimation are discussed in this article. Based on the proposed tyre model and the improved force measurements, another EKF is implemented to estimate the tyre model parameters, including the maximum friction coefficient, slip slope, etc. The tyre forces are accurately obtained simultaneously. Finally, very promising results have been achieved for pure acceleration/braking for varying road conditions, both in pure steering and combined manoeuvre simulations.
AB - In this article, a new approach to estimate the vehicle tyre forces, tyre-road maximum friction coefficient, and slip slope is presented. Contrary to the majority of the previous work on this subject, a new tyre model for the estimation of the tyre-road interface characterisation is proposed. First, the tyre model is built and compared with those of Pacejka, Dugoff, and one other tyre model. Then, based on a vehicle model that uses four degrees of freedom, an extended Kalman filter (EKF) method is designed to estimate the vehicle motion and tyre forces. The shortcomings of force estimation are discussed in this article. Based on the proposed tyre model and the improved force measurements, another EKF is implemented to estimate the tyre model parameters, including the maximum friction coefficient, slip slope, etc. The tyre forces are accurately obtained simultaneously. Finally, very promising results have been achieved for pure acceleration/braking for varying road conditions, both in pure steering and combined manoeuvre simulations.
KW - EKF
KW - maximum friction coefficient
KW - slip slope
KW - tyre model
UR - http://www.scopus.com/inward/record.url?scp=84929133311&partnerID=8YFLogxK
U2 - 10.1080/00423114.2014.1002795
DO - 10.1080/00423114.2014.1002795
M3 - Article
AN - SCOPUS:84929133311
SN - 0042-3114
VL - 53
SP - 506
EP - 525
JO - Vehicle System Dynamics
JF - Vehicle System Dynamics
IS - 4
ER -