Tyre effective radius and vehicle velocity estimation: A variable structure observer solution

Tannoury, Charbel El; Plestan, Franck; Moussaoui, Saïd; Romani, Nicolas

doi:10.1109/ssd.2011.5767491

Cited by 10 publications

(4 citation statements)

References 12 publications

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“…Tannoury et al proposed an HSMO scheme to estimate vehicle velocity based on wheel speed and brake torque measurements. The key feature of this design is that it considers the effective tire radius for vehicle velocity estimation.…”

Section: Friction Estimation Methodsmentioning

confidence: 99%

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Rajendran

Spurgeon

Tsampardoukas

et al. 2018

Intl J Robust & Nonlinear

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Summary The introduction of electric braking via brake‐by‐wire systems in electric vehicles) has reduced the high transportation delays usually involved in conventional friction braking systems. This has facilitated the design of more efficient and advanced control schemes for antilock braking systems (ABSs). However, accurate estimation of the tire‐road friction coefficient, which cannot be measured directly, is required. This paper presents a review of existing estimation methods, focusing on sliding‐mode techniques, followed by the development of a novel friction estimation technique, which is used to design an efficient ABS control system. This is a novel slip‐based estimation method, which accommodates the coupling between the vehicle dynamics, wheel dynamics, and suspension dynamics in a cascaded structure. A higher‐order sliding‐mode observer–based scheme is designed, considering the nonlinear relationship between friction and slip. A first‐order sliding‐mode observer is also designed based on a purely linear relationship. A key feature of the proposed estimation schemes is the inclusion of road slope and the effective radius of the tire as an estimated state. These parameters impact significantly on the accuracy of slip and friction estimation. The performance of the proposed estimation schemes are validated and benchmarked against a Kalman filter (KF) by a series of simulation tests. It is demonstrated that the sliding‐mode observer paradigm is an important tool in developing the next generation ABS systems for electric vehicles.

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Section: Friction Estimation Methodsmentioning

confidence: 99%

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Rajendran

Spurgeon

Tsampardoukas

et al. 2018

Intl J Robust & Nonlinear

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“…To improve the adaptability of the nonlinear system under the conditions of large slip rates or large side slip angles of tires, the adaptive extended Kalman filter (AEKF) and unscented Kalman filter (UKF) were adopted in [11,12] for vehicle velocity estimation. Tannoury et al [13] designed a variable structure observer to estimate the wheel rolling radius and rotational speed based on the nonlinear relationship between the slip rate and friction coefficient. Imsland et al [14] designed a nonlinear speed observer based on the acceleration, yaw rate and wheel speeds.…”

Section: Introductionmentioning

confidence: 99%

Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle

Leng

Liu

et al. 2020

IEEE Access

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Slip rate control is important in improving vehicle stability and driving efficiency. In this paper, a robust slip rate control system is designed for distributed drive electric vehicles that consists of two slip rate estimators for multi-driving conditions, a vehicle speed estimator, and an anti-windup robust variable structure slip rate tracking controller. Because there is no driven wheel in a four-in-wheel-motor distributed drive electric vehicle, the estimators for small and large slip rates are designed based on dynamic and kinematic methods, respectively, which can switch according to the slip conditions. The convergence of the estimation error is discussed with the Lyapunov stability law and is less than 2% under the condition of acceleration on a low-friction road. The slip rate tracking controller is designed based on the sliding mode control law and the proportional-integral (PI) control method to handle model nonlinearity, modelling and estimation errors, and disturbances and to control the input chattering and saturation. The asymptotic stability of the tracking error is proven by Lyapunov theory. A joint control variable composed of the wheel angular acceleration and slip rate is designed to improve the robustness of the controller against the slip rate estimation error. Simulations and experiments under various conditions are performed to verify the proposed anti-slip control method. The results show that compared with a distributed drive vehicle without a slip rate controller, the controlled vehicle can prevent serious wheel skid on low-adhesion roads and improve the driving performance.

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“…The most recent studies related to intelligent tires demonstrate the correlation of the strain gauges measurements with the tire operational condition [12,[28][29][30][31][32][33][34][35][36]. Another perspective to estimate the tire parameters uses virtual sensors based on vehicle dynamics models [9,[37][38][39][40][41]; however, many simplifications must to be made resulting in notable error and are not accurate enough for all driving conditions. Among the dynamic parameters to monitor in a tire, it has been observed that in most of the literature related to the tire strain measurements, the contact length is pointed as an indicator of the peak-to-peak distance through the strain rate curve.…”

Section: Introductionmentioning

confidence: 99%

“…The effective rolling radius estimation proposed by Tannoury et al [40] requires to extract the traction and velocity from ABS; nonetheless, the main idea is getting the tire paraments to optimize the control systems, and not the reverse; a similar study was proposed by Carlson et al [41]. Other types of studies are based on finite element models to derive relationships between the strain sensors and the braking torque, effective radius and contact length [36] or correlate tire working conditions (angular velocity, preload, and inflation pressure, braking/traction force and cornering force) with strain data [33].…”

Section: Introductionmentioning

confidence: 99%

A Strain-Based Intelligent Tire to Detect Contact Patch Features for Complex Maneuvers

Mendoza-Petit

García-Pozuelo

Díaz

et al. 2020

Sensors

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Tires are essential components of vehicles and are able to transmit traction and braking forces to the contact patch, contribute to directional stability, and also help to absorb shocks. If these components can provide information related to the tire–road interaction, vehicle safety can be increased. This research is focused on developing the tire as an active sensor capable to provide its functional parameters. Therefore, in this work, we studied strain-based measurements on the contact patch to develop an algorithm to compute the wheel velocity at the contact point, the effective rolling radius and the contact length on dynamic situations. These parameters directly influence the dynamics of wheel behavior which nowadays is not clearly defined. Herein, hypotheses have been assumed based on previous studies to develop the algorithm. The results expose to view an experimental test regarding influence of the tire operational condition (slip angle, vertical load, and rolling velocity) onto the computed parameters. This information is used to feed a fuzzy logic system capable of estimating the effective radius and contact length. Furthermore, a verification process has been carried out using CarSim simulation software to get the inputs for the fuzzy logic system at complex maneuvers.

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Tyre effective radius and vehicle velocity estimation: A variable structure observer solution

Cited by 10 publications

References 12 publications

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle

A Strain-Based Intelligent Tire to Detect Contact Patch Features for Complex Maneuvers

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