Journal ArticleDOI
Emergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement
TLDR
In this article, a control scheme for emergency braking of vehicles is designed, where the tire/road friction is described by a LuGre dynamic friction model, and the control system output is the pressure in the master cylinder of the brake system.Abstract:
Summary A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LMI) techniques. The analysis shows that using the wheel angular speed information exclusively is not sufficient to rapidly estimate the velocity and relative velocity, due to the fact that the dynamical system is almost unobservable with this measurement as output. Findings are confirmed by simulation results that show that the estimated vehicle velocity and relative velocity converge slowly to their true values, even though the internal friction state and friction parameters converge quickly. The proposed control system has two main advantages when compared with an antilock braking system (ABS): (1) it produ...read more
Citations
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Journal ArticleDOI
Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control
Li Li,Fei-Yue Wang,Qunzhi Zhou +2 more
TL;DR: A review of recent developments and trends in tire/road friction modeling is presented, with attempts to provide a broad perspective of the initiatives and multidisciplinary techniques for related research.
Journal ArticleDOI
Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
TL;DR: In this paper, an adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction, where the wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model.
Journal ArticleDOI
A diagnosis-based approach for tire-road forces and maximum friction estimation
TL;DR: In this paper, a new approach to estimate vehicle tire forces and road maximum adherence is presented, which 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.
Journal ArticleDOI
An adaptive integrated algorithm for active front steering and direct yaw moment control based on direct Lyapunov method
Nenggen Ding,Saied Taheri +1 more
TL;DR: In this article, an adaptive integrated control algorithm based on active front steering and direct yaw moment control using direct Lyapunov method is proposed to ensure robustness of the integrated controller.
Journal ArticleDOI
A Piezo-Sensor-Based “Smart Tire” System for Mobile Robots and Vehicles
TL;DR: Experimental results on a skid-steered mobile robot are presented to show the feasibility and estimation of wheel/ground friction characteristics using the developed sensing system.
References
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Journal ArticleDOI
A new model for control of systems with friction
TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Book
Theory of Ground Vehicles
TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.
Proceedings ArticleDOI
Tyre Modelling for Use in Vehicle Dynamics Studies
TL;DR: In this paper, a new way of representing tyre data obtained from measurements in pure cornering and pure braking conditions has been developed in order to further improve the Dynamic Safety of vehicles, making use of a formula with coefficients which describe some of the typifying quantities of a tyre, such as slip stiffnesses at zero slip and force and torque peak values.
Journal ArticleDOI
ABS control using optimum search via sliding modes
TL;DR: The paper presents the control design for antilock braking systems via the sliding mode approach and considers the friction force as an output of the dynamic system which includes mechanical motion equations and the hydraulic circuit equations.
Proceedings ArticleDOI
Dynamic tire friction models for vehicle traction control
TL;DR: In this article, a dynamic friction force model for road/tire interaction for ground vehicles is derived based on a similar dynamic friction model for contact developed previously for contact-point friction problems, called the LuGre model.