[1] Song Xiang, Li Xu, Zhang Weigong, Chen Wei, et al. Approach to estimationof vehicle-road longitudinal friction coefficient [J]. Journal of Southeast University (English Edition), 2013, 29 (3): 310-315. [doi:10.3969/j.issn.1003-7985.2013.03.015]

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

29

Issue:

2013 3

Page:

310-315

Research Field:

Traffic and Transportation Engineering

Publishing date:

2013-09-20

Info

Title:

Approach to estimationof vehicle-road longitudinal friction coefficient

Author(s):

Song Xiang;  Li Xu;  Zhang Weigong;  Chen Wei;  Xu Qimin

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Keywords:

road friction coefficient;  recursive least squares;  extended Kalman filter;  vehicle longitudinal safety assistant system

PACS:

U467

DOI:

10.3969/j.issn.1003-7985.2013.03.015

Abstract:

According to the road adaptive requirements for the vehicle longitudinal safety assistant system, an estimation method of the road longitudinal friction coefficient is proposed. The method can simultaneously be applied to both the high and the low slip ratio conditions. Based on the simplified magic formula tire model, the road longitudinal friction coefficient is preliminarily estimated by the recursive least squares method. The estimated friction coefficient and the tires model parameters are considered as extended states. The extended Kalman filter algorithm is employed to filter out the noise and adaptively adjust the tire model parameters. Then the final road longitudinal friction coefficient is accurately and robustly estimated. The Carsim simulation results show that the proposed method is better than the conventional algorithm. The road longitudinal friction coefficient can be quickly and accurately estimated under both the high and the low slip ratio conditions. The error is less than 0.1 and the response time is less than 2 s, which meets the requirements of the vehicle longitudinal safety assistant system.

References:

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[3] Lee C, Hedrick K, Yi K. Real-time slip-based estimation of maximum tire-road friction coefficient [J].IEEE/ASME Transactions on Mechatronics, 2004, 9(2):454-458.
[4] Ahn C, Peng H, Tseng H E. Robust estimation of road friction coefficient using lateral and longitudinal vehicle dynamics[J]. Vehicle System Dynamics, 2012, 50(6):961-985.
[5] Li K, Misener J A, Hedrick K. On-board road condition monitoring system using slip-based tire-road friction estimation and wheel speed signal analysis [J]. Journal of Multi-Body Dynamics, 2007, 221(1):129-146.
[6] Tanelli M, Piroddi L, Savaresi S M. Real-time identification of tire-road friction conditions [J]. IET Control Theory Applications, 2009, 3(7): 891-906.
[7] Villagra J, d’Andréa-Novel B, Fliess M, et al. A diagnosis-based approach for tire-road forces and maximum friction estimation [J]. Control Engineering Practice, 2009, 19(2): 174-184.
[8] Wu Lijun, Wang Yuejian, Li Keqiang. Estimation method of road adhesion coefficient for vehicle longitudinal safety assistant system [J]. Automotive Engineering, 2009, 31(3):239-243.(in Chinese)
[9] Yu Zhuoping, Zuo Jianling, Zhang Lijun. A summary on the development status quo of tire-road friction coefficient estimation techniques [J]. Automotive Engineering, 2006, 28(6):546-549.(in Chinese)
[10] Shim T, Margolis D. Model-based road friction estimation [J]. Vehicle System Dynamics, 2004, 41(4): 249-276.
[11] Bian Mingyuan. Simplified tire model for longitudinal road friction estimation[J]. Journal of Chongqing University of Technology: Natural Science, 2012, 26(1):1-5.(in Chinese)
[12] Gustafsson F. Automotive safety systems, replacing costly sensors with software algorithms [J]. IEEE Signal Processing Magazine, 2009, 26(4):32-47.

Memo

Memo:

Biographies: Song Xiang(1984—), male, graduate; Li Xu(corresponding author), male, doctor, associate professor, lixu.mail@163.com.
Foundation items: The National Natural Science Foundation of China(No.61273236), the Natural Science Foundation of Jiangsu Province(No.BK2010239), the Ph.D. Programs Foundation of Ministry of Education of China(No.200802861061).
Citation: Song Xiang, Li Xu, Zhang Weigong, et al.Approach to estimation of vehicle-road longitudinal friction coefficient[J].Journal of Southeast University(English Edition), 2013, 29(3):310-315.[doi:10.3969/j.issn.1003-7985.2013.03.015]

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