Design of tyre force excitation for tyre–road friction estimation
Journal article, 2016

Knowledge of the current tyre–road friction coefficient is essential for future autonomous vehicles. The environmental conditions, and the tyre–road friction in particular, determine both the braking distance and the maximum cornering velocity and thus set the boundaries for the vehicle. Tyre–road friction is difficult to estimate during normal driving due to low levels of tyre force excitation. This problem can be solved by using active tyre force excitation. A torque is added to one or several wheels in the purpose of estimating the tyre–road friction coefficient. Active tyre force excitation provides the opportunity to design the tyre force excitation freely. This study investigates how the tyre force should be applied to minimise the error of the tyre–road friction estimate. The performance of different excitation strategies was found to be dependent on both tyre model choice and noise level. Furthermore, the advantage with using tyre models with more parameters decreased when noise was added to the force and slip ratio.

optimisation

Tyre–road friction estimation

state estimation

vehicle dynamics

active tyre force excitation

Author

Anton Albinsson

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems, Vehicle Dynamics

Fredrik Bruzelius

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems, Vehicle Dynamics

Bengt J H Jacobson

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems, Vehicle Dynamics

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Vehicle System Dynamics

0042-3114 (ISSN)

2 208-230

Driving Forces

Sustainable development

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

Signal Processing

DOI

10.1080/00423114.2016.1251598

More information

Created

10/7/2017