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TECHNICAL PAPERS

Friction Estimation on Highway Vehicles Using Longitudinal Measurements

[+] Author and Article Information
Junmin Wang, Lee Alexander, Rajesh Rajamani

Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455

J. Dyn. Sys., Meas., Control 126(2), 265-275 (Aug 05, 2004) (11 pages) doi:10.1115/1.1766028 History: Received June 30, 2003; Revised November 24, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

Breuer, Bert, Eichhorn, Ulrich, and Roth, Jürgen, 1992, “Measurement of tyre/road friction ahead of the car and inside the tyre,” Proceedings of AVEC’92 (International Symposium on Advanced Vehicle Control), pp. 347–353.
Eichhorn, U., and Roth, J., 1992, “Prediction and Monitoring of Tyre/Road Friction,” Proceedings of FISITA, London, pp. 67–74.
Uno, T., Sakai, Y., Takagi, J., and Yamashita, T., 1994, “Road Surface Recognition Method Using Optical Spatial Filtering,” Proceedings of AVEC, pp. 509–515.
SAE, “Vehicle Dynamics Terminology,” SAE J670e, Society of Automotive Engineers.
Pasterkamp,  W. R., and Pacejka,  H. B., 1997, “The Tyre as a Sensor to Estimate Friction,” Veh. Syst. Dyn., 27, pp. 409–422.
Gustaffson,  F., 1997, “Slip-Based Tire-Road Friction Estimation,” Automatica, 33(6), pp. 1087–1099.
Yi,  K., Hedrick,  K., and Lee,  S. C., 1999, “Estimation of Tire-Road Friction Using Observer Based Identifiers,” Veh. Syst. Dyn., 31, pp. 233–261.
Hwang, Wookug, and Song, Byung-suk, 2000, “Road Condition Monitoring System Using Tire-road Friction Estimation,” Proceedings of AVEC 2000, Ann Arbor, Michigan, pp. 437–442, Aug.
Müller, Steffen, Uchanski, Michael, and Hedrick, Karl, 2001, “Slip-Based Tire-Road Friction Estimation During Braking,” Proceedings of 2001 ASME International Mechanical Engineering Congress and Exposition, New York, pp. 213–220.
Hahn,  J.-O., Rajamani,  Rajesh, and Alexander,  Lee, 2002, “GPS-Based Real-Time Identification of Tire-Road Friction Coefficient,” IEEE Trans. Control Syst. Technol., 10, No. 3, May.
Germann, St., Würtenberger, M. and Daiß, A., 1994, “Monitoring of the Friction Coefficient Between Tyre and Road Surface,” Proceedings of the Third IEEE Conference on Control Applications, pp. 613–618.
Gillespie, Thomas D., 1992, “Fundamentals of Vehicle Dynamics,” Society of Automotive Engineers, Inc.
Pacejka,  H. B., and Bakker,  E., 1993, “The Magic Formula Tire Model,” IAVSD Symposium on Dynamics of Vehicles on Roads and on Tracks, Vehicle System Dynamics, Supplement to Veh. Syst. Dyn., 21, pp. 1–18.
Sastry, Shankar, and Bodson, Marc, 1989, Adaptive Control: Stability, Convergence, and Robustness, Englewood Cliffs, NJ: Prentice-Hall.
Gustafsson, Fredrik, 2000, Adaptive Filtering and Change Detection, John Wiley & Sons, Ltd. Chichester, England.
Kailath, Thomas, Sayed, Ali H., and Hassibi, Babak, 2000, Linear Estimation, Prentice Hall.
Page,  E. S., 1954, “Continuous Inspection Schemes,” Biometrika, 41, pp. 100–115.
Rajamani,  Rajesh, 2002, “Radar Health Monitoring for Highway Vehicle Applications,” Veh. Syst. Dyn., 38, No. 1, pp. 23–54.
Bevly, D., Gerdes, J., Wilson, C., and Zhang, G., 2000, “The Use of GPS Based Velocity Measurements for Improved Vehicle State Estimation,” Proceedings of the American Control Conference, Chicago, Illinois, pp. 2538–2542, June.

Figures

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Vehicle longitudinal dynamics schematic diagram
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Longitudinal force vs. slip computed using Magic Formula model
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Chassis tire configuration example
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Slip-slope estimation using ordinary RLS with λ=0.995
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Slip-slope estimation using ordinary RLS with λ=0.9
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Slip-slope estimation with gain switching and λ=0.995
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Using peak filter to deal with signal peaks
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Experimental results for accelerometer bias and acceleration estimation
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The SAFEPLOW used for the experiments
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Acceleration starting at 20 mph on dry concrete surface
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Slip-slope estimation during acceleration and braking
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The road surface used to conduct the experiments for this section
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Acceleration starting at 20 mph on surface with light snow covering
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Acceleration and braking on surface with light snow covering
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The track used to conduct the experiments for this section
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System response when accelerating through the transitional part
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System response when braking through the transitional part
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Testing result for hard braking

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