Robust estimation of the friction forces generated by each tire of a vehicle

Te-Sheng Hsiao*, Nien Chi Liu, Syuan Yi Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

Real-time information of tire friction forces is invaluable for vehicle control systems, such as ABS and the electronic stability program (ESP), to achieve better stability and maneuverability. To estimate tire forces on-line, this paper proposes a robust tire force estimation algorithm which is able to identify the longitudinal and lateral tire forces of each individual wheel. In addition, the estimation results are robust w.r.t variations in vehicle parameters. The dependency between the longitudinal and lateral tire forces is explicitly taken into account by incorporating friction ellipses into the estimation algorithm. Simulations based on a 14-degree-of-freedom nonlinear vehicle model are conducted and the results are satisfactory, even in the presence of sudden changes of the road conditions and variations in vehicle parameters.

Original languageEnglish
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages5261-5266
Number of pages6
DOIs
StatePublished - 29 Sep 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: 29 Jun 20111 Jul 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2011 American Control Conference, ACC 2011
CountryUnited States
CitySan Francisco, CA
Period29/06/111/07/11

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