Robust estimation of maximum tire-road friction coefficient considering road surface irregularity

K. Han, Y. Hwang, E. Lee, S. Choi

Research output: Contribution to journalArticlepeer-review

31 Scopus citations

Abstract

An accurate estimation of the maximum tire-road friction coefficient may provide higher performance in a vehicle active safety control system. Unfortunately, real-time tire-road friction coefficient estimation is costly and necessitates additional sensors that must be installed and maintained at all times. This paper proposes an advanced longitudinal tire-road friction coefficient estimation method that is capable of considering irregular road surfaces. The proposed algorithm uses a stiffness based estimation method, however, unlike previous studies, improvements were made by suggesting a third order model to solve problems related to nonlinear mu-slip curve. To attain the tire-road friction coefficient, real-time normalized force is obtained from the force estimator as exerted from the tire in the low slip region using the recursive least squares method. The decisive aspect of using the suggested algorithm lies in its low cost and versatility. It can be used under irregular road conditions due to its capability of easily obtaining wheel speed and acceleration values from production cars. The newly improved algorithm has been verified to computer simulations as well as compact size cars on dry asphalt conditions.

Original languageEnglish
Pages (from-to)415-425
Number of pages11
JournalInternational Journal of Automotive Technology
Volume17
Issue number3
DOIs
StatePublished - 1 Jun 2016

Keywords

  • Mu-slip curve
  • Suspension dynamics
  • Tire-road friction coefficient
  • Unknown input observer
  • Vehicle safety control system
  • Wheel dynamics

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