Research on Tire–Road Parameters Estimation Algorithm for Skid-Steered Wheeled Unmanned Ground Vehicle

Abstract

Skid-steered wheeled vehicles can be applied in military, agricultural, and other fields because of their flexible layout structure and strong passability. The research and application of vehicles are developing towards the direction of “intelligent” and “unmanned”. As essential parts of unmanned vehicles, the motion planning and control systems are increasingly demanding for model and road parameters. In this paper, an estimation method for tire and road parameters is proposed by combining offline and online identification. Firstly, a 3-DOF nonlinear dynamic model is established, and the interaction between tire and road is described by the Brush nonlinear tire model. Then, the horizontal and longitudinal stiffness of the tire is identified offline using the particle swarm optimization (PSO) algorithm with adaptive inertia weight. Referring to the Burckhardt adhesion coefficient formula, the extended forgetting factor recursive least-squares (EFRLS) method is applied to identify the road adhesion coefficient online. Finally, the validity of the proposed identification algorithm is verified by TruckSim simulation and real vehicle tests. Results show that the relative error of the proposed algorithm can be well controlled within 5%.

Improving a methodology for estimating the cross-country ability of all-wheel-drive vehicles

“…Paper [3] proposed a method for evaluating tire and road parameters by combining offline and online identification. In particular, a 3-DOF nonlinear dynamic model is built, and the interaction between the tire and the road is described by the Brasch nonlinear tire model.…”

Advanced Modeling, Analysis and Control for Electrified Vehicles

“…The primary goal of this Special Issue is to provide timely solutions to technological developments and challenges in the modeling, estimation, simulation, design, control and optimization of electrified vehicle systems. After a rigorous review process, 10 manuscripts were ultimately accepted which address adhesion coefficient estimation and the estimation of tire-road parameters [7,8], the optimization of an active steering system [9], braking energy regeneration [10], anti-rollover control [11], the coordinated control of vehicle dynamics [12], the integrated control of path tracking and stability [13], vehicle detection and ground segmentation [14], automatic emergency braking systems [15] and obstacle avoidance control [16]. A brief summary of these articles is provided below.…”

“…Then, a fuzzy reasoning strategy for fusing the longitudinal tire adhesion coefficient and the lateral tire adhesion coefficient is designed, and the experimental results of vehicle tests conducted with a four-wheel independently driven vehicle modified via wire (UTV) prove that the proposed estimation method can accurately estimate the peak adhesion coefficient of pavement. In [8], a combined offline and online identification-based estimation of tire-road parameters is proposed for skid-steered, wheeled, unmanned ground vehicles with flexible layout structures and strong possibilities for use in military and agricultural fields. The interaction between the tires and the road is first described using the Brush nonlinear tire model, the horizontal and longitudinal stiffnesses of the tire are identified offline using a particle swarm optimization (PSO) algorithm with an adaptive inertia weight, and the extended forgetting factor recursive least-squares (EFRLS) method was utilized to identify the road adhesion coefficient under the Burckhardt adhesion coefficient formula online.…”