0
research-article

Estimation of Road Adhesion Coefficient Based on Tire Aligning Torque Distribution

[+] Author and Article Information
Biao Ma

School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, 100083, China
biaomacugb@sina.cn

Chen Lv

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
C.Lyu@cranfield.ac.uk

Yahui Liu

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
liuyahui@tsinghua.edu.cn

Minghui Zheng

Department of Mechanical Engineering, University of California, Berkeley, USA
zhengmhbuaa@gmail.com

Yiyong Yang

School of Engineering and Technology, China University of Geosciences (Beijing), Beijing, 100083, China
yangyy@cugb.edu.cn

Xuewu Ji

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
jixw@mail.tsinghua.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4038095 History: Received April 28, 2017; Revised September 08, 2017

Abstract

Road adhesion coefficient is an important parameter in vehicle active safety control system. Many researches estimate road adhesion coefficient by total tire self-aligning torque (also called front-axle aligning torque), which obtains the average road adhesion coefficient of front wheels, thus leading large estimation error. In this paper, a novel estimation of road adhesion coefficient based on single tire self-aligning torque (SAT), which is obtained by tire aligning torque distribution, is brought forward. Due to the use of SAT, the proposed estimation method is available in steering only condition. The main idea of the proposed method is that road adhesion coefficient is estimated by single tire SAT instead of total tire SAT. The single tire SAT is closer to real tire torque state, and it can be obtained by aligning torque distribution, which makes use of the ratio for the aligning torque of front-left wheel and front-right wheel. Tire sideslip angle used in torque distribution is estimated by unscented kalman filter (UKF). Two coefficients, including front-left and front-right tire-road friction coefficients, are estimated by iteration algorithm form single tire SAT. The final road adhesion coefficient is determined by a coefficient identification rule, which is designed to determine which tire-road friction coefficient as the final road adhesion coefficient. Both simulations and tests are conducted to validate the proposed methodology can provide accurate road adhesion coefficient to vehicle active safety control.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In