A diagnosis-based approach for tire-road forces and maximum friction estimation

作者：Villagra Jorge^*; d'Andrea Novel Brigitte; Fliess Michel; Mounier Hugues

来源：Control Engineering Practice, 2011, 19(2): 174-184.

DOI：10.1016/j.conengprac.2010.11.005

• Active safety
• Friction estimation
• Automotive vehicles
• Nonlinear estimation
• Derivatives of noisy signals

A new approach to estimate vehicle tire forces and road maximum adherence is presented. Contrarily to most of the previous works on this subject, it is not an asymptotic observer-based estimation, but a combination of elementary diagnosis tools and new algebraic techniques for filtering and estimating derivatives of noisy signals. In a first step, instantaneous friction and lateral forces will be computed within this framework. Then, extended braking stiffness concept is exploited to detect which braking efforts allow to distinguish a road type from another. A weighted Dugoff model is used during these 'distinguishable' intervals to estimate the maximum friction coefficient. Very promising results have been obtained in noisy simulations and real experimentations for most of the driving situations.

• 出版日期2011-2
• 单位INRIA