The effects of tyre dynamics on slip control braking for heavy goods vehicles

Paper in proceeding, 2011

Previous work has shown that traditional ‘lumped tyre’ dynamic models are only accurate for modelling longitudinal motion at frequencies up to 10Hz. A simplified rigid-ring tyre model is developed in this paper to model the tyre of a Heavy Goods Vehicle (HGV). Comparisons to field tests of an anti-lock braking system show that the new tyre model predicts the tyre’s response more accurately than conventional models. Simulations with a slip-control braking controller show that treadband dynamics may induce some instability of the control system at low vehicle speeds. A simulation incorporating the tyre model is used to compare a theoretical smart tyre concept against an existing friction force observer. Simulation results show that such a tyre would require four low noise sensors to outperform the friction force observer.