A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

Zhang, Xiangwen; Xu, Yong; Pan, Ming; Fu-tian, Ren

doi:10.1080/00423114.2013.864775

Cited by 74 publications

(43 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These can be classified into longitudinal stiffness or slip slope-based approaches [6,7,17,44,91,92], friction model-based approaches [12,13,16,18,19,21,[93][94][95] and active force excitation approaches [71,96]. Despite slip slope approaches belong to the friction model-based group (i.e., linear longitudinal stiffness tyre model), a distinction has been made to treat them in greater detail.…”

Section: Longitudinal Dynamicsmentioning

confidence: 99%

See 1 more Smart Citation

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

2017

View full text Add to dashboard Cite

Abstract:In this paper, a review on road friction virtual sensing approaches is provided. In particular, this work attempts to address whether the road grip potential can be estimated accurately under regular driving conditions in which the vehicle responses remain within low longitudinal and lateral excitation levels. This review covers in detail the most relevant effect-based estimation methods; these are methods in which the road friction characteristics are inferred from the tyre responses: tyre slip, tyre vibration, and tyre noise. Slip-based approaches (longitudinal dynamics, lateral dynamics, and tyre self-alignment moment) are covered in the first part of the review, while low frequency and high frequency vibration-based works are presented in the following sections. Finally, a brief summary containing the main advantages and drawbacks derived from each estimation method and the future envisaged research lines are presented in the last sections of the paper.

show abstract

Section: Longitudinal Dynamicsmentioning

confidence: 99%

“…The observer was simulated under emergency braking manoeuvres. Finally, Zhang et al [95] and Zhao et al [97] employed the Burckhardt [15] tyre model to estimate the friction potential during braking manoeuvres.…”

Section: Roadmentioning

confidence: 99%

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

2017

View full text Add to dashboard Cite

show abstract

“…The term Ω a (t) shows the deviation of the measured relative acceleration R eωs −u x t fromV rx because of the sensor noises. Establishing these equations allow the development of a Kalman-based observer to incorporate longitudinal tire deflections (17) and relative velocities (18) concurrently and to compare the output with the longitudinal forcesμ x provided in section II. The general form of the velocity estimator at each corner ij, which can be addressed by the KF, with ω > 0 is given as follows in which…”

Section: B Corner-based Velocity Estimationmentioning

confidence: 99%

“…Alternatively, a sliding-mode observer is proposed in [16], based on the LuGre dynamic model [17], to estimate the longitudinal speed, but the road should be identified simultaneously. Zhang et al presented a sliding-mode observer for velocity estimation in [18], with the wheel torques and an EKF for estimation of the Burckhardt's model [19] parameters. However, this method needs an accurate tire model, which is not possible due to the presence of tire wear, inflation pressure, and road friction uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Estimation of longitudinal speed robust to road conditions for ground vehicles

Hashemi

Kasaiezadeh

Khosravani

et al. 2016

Vehicle System Dynamics

View full text Add to dashboard Cite

Abstract-This article seeks to develop a longitudinal vehicle velocity estimator robust to road conditions by employing a tire model at each corner. Combining the lumped LuGre tire model and the vehicle kinematics, the tires internal deflection state is used to gain an accurate estimation. Conventional kinematicbased velocity estimators use acceleration measurements, without correction with the tire forces. However, this results in inaccurate velocity estimation because of sensor uncertainties which should be handled with another measurement such as tire forces that depend on unknown road friction. The new Kalman-based observer in this paper addresses this issue by considering tire nonlinearities with a minimum number of required tire parameters and the road condition as uncertainty. Longitudinal forces obtained by the unscented Kalman filter on the wheel dynamics is employed as an observation for the Kalman-based velocity estimator at each corner. The stability of the proposed time-varying estimator is investigated and its performance is examined experimentally in several tests and on different road surface frictions. Road experiments and simulation results show the accuracy and robustness of the proposed approach in estimating longitudinal speed for ground vehicles.

show abstract

“…Employing unscented Kalman filter (UKF), [6] and [7] propose different methods for estimation of the lateral and longitudinal velocities using knowledge of the road condition and tire model parameters, respectively. The approach in [8] applies a slidingmode observer for the velocity estimation and an EKF for estimation of the Burckhardt tire model's friction parameter. A model-based vehicle lateral state estimator is developed in [9] using a yaw rate gyroscope, a forward-looking monocular camera, an a priori map of road superelevation and temporally previewed lane geometry.…”

Section: Introductionmentioning

confidence: 99%

Distributed robust vehicle state estimation

Hashemi

Pirani

Fi̇dan

et al. 2017

2017 IEEE Intelligent Vehicles Symposium (IV)

View full text Add to dashboard Cite

Abstract-A distributed estimation approach based on opinion dynamics is proposed to enhance the reliability of vehicle corners' velocity estimates, which are obtained by an unscented Kalman filter. The corners' estimates from a Kalman observer, which is formed by integrating the model-based and kinematic-based velocity estimation approaches, are utilized as opinions with different levels of confidence in the developed algorithm. More reliable estimates robust to disturbances and time delay are achieved via solving a convex optimization problem. Road tests confirm the robustness of the methods independent of the powertrain configuration on surfaces with various friction conditions in pure and combined-slip maneuvers, which are arduous for the current vehicle state estimators.

show abstract

A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

Cited by 74 publications

References 26 publications

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

Road Friction Virtual Sensing: A Review of Estimation Techniques with Emphasis on Low Excitation Approaches

Estimation of longitudinal speed robust to road conditions for ground vehicles

Distributed robust vehicle state estimation

Contact Info

Product

Resources

About