Title: Estimation of tyre-road friction coefficient

Authors: Yao Li; Jianwu Zhang; Xiqiang Guan

Addresses: Department of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan RD. Minhang District, Shanghai, 200240, China. ' Department of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan RD. Minhang District, Shanghai, 200240, China. ' Department of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan RD. Minhang District, Shanghai, 200240, China

Abstract: Tyre-road friction coefficient is hard to detect while it is important for vehicle control systems, especially the vehicle active safety control systems. This paper presents a maximum aligning moment method which requires no additional sensors if the vehicle is equipped with an electric power steering (EPS) system. A non-linear observer method is designed for the estimation of friction coefficient as well as the continual estimation of tyre slip angles. One combined estimation method is proposed to compensate for the drawbacks of the two methods above. These estimation methods are verified by computer simulations with experimental results in various conditions.

Keywords: tyre-road friction coefficient; brush tyre models; BTM; maximum tyre aligning moment; nonlinear observers; tyre side slip angles; vehicle tyres; vehicle control; vehicle safety; active safety; electric power steering; simulation; modelling.

DOI: 10.1504/IJVSMT.2012.048942

International Journal of Vehicle Systems Modelling and Testing, 2012 Vol.7 No.3, pp.285 - 302

Received: 22 Nov 2011
Accepted: 19 Feb 2012
Published online: 13 Sep 2014 *

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