TY - JOUR
T1 - State estimation of tire-road friction and suspension system coupling dynamic in braking process and change detection of road adhesive ability
AU - Xin, Wang
AU - Liang, Gu
AU - Mingming, Dong
AU - Xiaolei, Li
N1 - Publisher Copyright:
© IMechE 2021.
PY - 2022/5
Y1 - 2022/5
N2 - During vehicle braking, when vehicles move on the road with unknown road roughness elevation and unknown tire/road friction coefficient, fewer sensors shall be used for vehicle braking closed-loop control and braking distance prediction to obtain the dynamic states of the vehicle suspension and tire systems. In this paper, a vehicle dynamic model is established in Carsim software. Modify lump LuGre friction model and road roughness elevation model of four tires are proposed based on matlab. When vehicles brake on the road with time-varying split-μ, a braking control algorithm established in this paper. The road roughness elevation and the braking force of each tire are supplied to the vehicle dynamic model in Carsim. A state estimate algorithm of suspension system is proposed. The scheme for minimum sensor of this estimator is determined. A state estimate algorithm of the tire/road friction using only tire angular velocity information is proposed. When vehicles brake on the road with different levels of roughness, the influence of the number of installation groups of the sensors, the tire vertical stiffness deviations, and the measurement noise on the estimation error of the estimator is analyzed. When the vehicle is driving on the road with unknown adhesive ability, based on the estimator of tire/road friction using only tire angular velocity information, the tire/road friction internal state, the changes of road adhesive ability, and the vehicle velocity are estimated well.
AB - During vehicle braking, when vehicles move on the road with unknown road roughness elevation and unknown tire/road friction coefficient, fewer sensors shall be used for vehicle braking closed-loop control and braking distance prediction to obtain the dynamic states of the vehicle suspension and tire systems. In this paper, a vehicle dynamic model is established in Carsim software. Modify lump LuGre friction model and road roughness elevation model of four tires are proposed based on matlab. When vehicles brake on the road with time-varying split-μ, a braking control algorithm established in this paper. The road roughness elevation and the braking force of each tire are supplied to the vehicle dynamic model in Carsim. A state estimate algorithm of suspension system is proposed. The scheme for minimum sensor of this estimator is determined. A state estimate algorithm of the tire/road friction using only tire angular velocity information is proposed. When vehicles brake on the road with different levels of roughness, the influence of the number of installation groups of the sensors, the tire vertical stiffness deviations, and the measurement noise on the estimation error of the estimator is analyzed. When the vehicle is driving on the road with unknown adhesive ability, based on the estimator of tire/road friction using only tire angular velocity information, the tire/road friction internal state, the changes of road adhesive ability, and the vehicle velocity are estimated well.
KW - Suspension system
KW - parallel road tracks
KW - road adhesive ability
KW - state estimation
KW - tire/road friction
UR - http://www.scopus.com/inward/record.url?scp=85112343458&partnerID=8YFLogxK
U2 - 10.1177/09544070211035298
DO - 10.1177/09544070211035298
M3 - Article
AN - SCOPUS:85112343458
SN - 0954-4070
VL - 236
SP - 1170
EP - 1187
JO - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
IS - 6
ER -