Observer Based Road-Tire Friction Estimation for Slip Control of Braking System

Patra, Nilanjan; Datta, Kalyankumar

doi:10.1016/j.proeng.2012.06.192

Cited by 14 publications

(9 citation statements)

References 10 publications

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“…subject to umin ≤ u ≤ umax (22) where B ∈ R m×n is a control effectiveness matrix, v ∈ R m are the desired accelerations, n is the number of control effectors, and m is the number of axes to control with n > m. In our case, the vehicle is equipped by an ESP, ARS, and RTV. The problem can be defined as follows:…”

Section: Control Allocationmentioning

confidence: 99%

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Gain-Scheduled H∞ for Vehicle High-Level Motion Control

Kissai

Monsuez

Tapus

et al. 2018

Proceedings of the 6th International Conference on Control, Mechatronics and Automation

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Vehicle motion control has many challenges to overcome. One of the main problems is robustness against not only environmental changes but also uncertainties about the vehicle itself. This paper focuses on this problem using robust control design at the control architecture's high level. Researches tend to decentralize the control to treat longitudinal and lateral dynamics separately. Here, an overall vehicle model is first proposed and studied to justify the structure that the high-level controller should embrace. Co-simulation results of different combinations showed promising performances to face uncertainties and couplings. Therefore, robust techniques combined with control allocation techniques may enhance autonomous vehicles reliability.

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Section: Control Allocationmentioning

confidence: 99%

“…Not only the control should be reconfigurable but also the reference model should be updated. In [22], a sliding mode observer have been designed depending on Dugoff tire model [23]. This latter shows good precision in the linear zone of tire force.…”

Section: Friction Estimationmentioning

confidence: 99%

Gain-Scheduled H∞ for Vehicle High-Level Motion Control

Kissai

Monsuez

Tapus

et al. 2018

Proceedings of the 6th International Conference on Control, Mechatronics and Automation

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show abstract

“…Nilanjan et al [122] proposed a sliding mode observer along with modified Dugoff model to estimate the longitudinal velocity and friction coefficient; the only measured state was wheel angular velocity. Doumiati et al [86] proposed a real time algorithm to estimate the tire-road lateral forces and side slip angle using two estimation algorithms of extended and unscented Kalman filter, in which the lateral force was modeled using Dugoff model.…”

Section: Dugoff Tire Modelmentioning

confidence: 99%

A technical survey on tire-road friction estimation

2017

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Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability, traction, and ABS controllers on the low friction surfaces are the most important factors affecting car crashes. Due to its direct relation to vehicle stability, accurate estimation of tire-road friction is of interest to all vehicle and tire companies. Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms. This literature survey introduces different approaches, which have been widely used to estimate the friction or other related parameters, and covers the recent literature that contains these methodologies. The emphasize of this review paper is on the algorithms and studies, which are more popular and have been repeated several times. The focus has been divided into two main groups: experiment-based and model-based approaches. Each of these main groups has several sub-categories, which are explained in the next few sections. Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms, which are widely used in friction estimation studies.

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“…However, when slip is more than 0.3, the braking force may be reduced. The tires are completely locked when slip is 1, and the wheels would slide along the pavement [6][7][8][9][10][11]. The results are shown in Figure 2 [12].…”

Section: Introductionmentioning

confidence: 99%

Development of Proportional Pressure Control Valve for Hydraulic Braking Actuator of Automobile ABS

Chen

Chiang

2018

Applied Sciences

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This research developed a novel proportional pressure control valve for an automobile hydraulic braking actuator. It also analyzed and simulated solenoid force of the control valves, and the pressure relief capability test of electromagnetic thrust with the proportional valve body. Considering the high controllability and ease of production, the driver of this proportional valve was designed with a small volume and powerful solenoid force to control braking pressure and flow. Since the proportional valve can have closed-loop control, the proportional valve can replace a conventional solenoid valve in current brake actuators. With the proportional valve controlling braking and pressure relief mode, it can narrow the space of hydraulic braking actuator, and precisely control braking force to achieve safety objectives. Finally, the proposed novel proportional pressure control valve of an automobile hydraulic braking actuator was implemented and verified experimentally.

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Observer Based Road-Tire Friction Estimation for Slip Control of Braking System

Cited by 14 publications

References 10 publications

Gain-Scheduled H∞ for Vehicle High-Level Motion Control

Gain-Scheduled H∞ for Vehicle High-Level Motion Control

A technical survey on tire-road friction estimation

Development of Proportional Pressure Control Valve for Hydraulic Braking Actuator of Automobile ABS

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