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Tire-Road Friction Estimation Using Slip-based Observers

Gerard, Mathieu (2006) In MSc Theses
Department of Automatic Control
Abstract
In order to improve the security of the vehicles, the car industry focuses more and more on Active Safety. The objective is to introduce embedded electronic control systems to detect dangerous conditions, warn the driver and, in emergency situations, even take actions to avoid crash or at least reduce the violence of the impact. The tire-road friction coefficient which defines the maximum traction and braking capacities is very useful information for both the driver and electronic devices like ABS, ESP, roll-over prevention or collision mitigation. Unfortunately such a coefficient cannot be directly measured and has to be estimated from other available data. This thesis reviews the main directions followed by researchers around the world... (More)
In order to improve the security of the vehicles, the car industry focuses more and more on Active Safety. The objective is to introduce embedded electronic control systems to detect dangerous conditions, warn the driver and, in emergency situations, even take actions to avoid crash or at least reduce the violence of the impact. The tire-road friction coefficient which defines the maximum traction and braking capacities is very useful information for both the driver and electronic devices like ABS, ESP, roll-over prevention or collision mitigation. Unfortunately such a coefficient cannot be directly measured and has to be estimated from other available data. This thesis reviews the main directions followed by researchers around the world and then focuses on slip-based methods. The methods proposed in a few papers are implemented, compared and commented. Then some original solutions are proposed. First, a hybrid observer has been developed with the idea to classify roads into a few categories. The principle is very interesting and the implementation brings out many problems to take into consideration and some attempts of solutions.Secondly, a force observer and a tire friction model are combined. This natural approach works well in simulations. (Less)
Please use this url to cite or link to this publication:
author
Gerard, Mathieu
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Tire-road friction estimation, slip-based methods, hybrid observer, Unscented Kalman Filter, nonlinear friction model.
publication/series
MSc Theses
report number
TFRT-5771
ISSN
0280-5316
language
English
id
8847816
date added to LUP
2016-03-18 09:42:33
date last changed
2016-03-18 09:42:33
@misc{8847816,
  abstract     = {In order to improve the security of the vehicles, the car industry focuses more and more on Active Safety. The objective is to introduce embedded electronic control systems to detect dangerous conditions, warn the driver and, in emergency situations, even take actions to avoid crash or at least reduce the violence of the impact. The tire-road friction coefficient which defines the maximum traction and braking capacities is very useful information for both the driver and electronic devices like ABS, ESP, roll-over prevention or collision mitigation. Unfortunately such a coefficient cannot be directly measured and has to be estimated from other available data. This thesis reviews the main directions followed by researchers around the world and then focuses on slip-based methods. The methods proposed in a few papers are implemented, compared and commented. Then some original solutions are proposed. First, a hybrid observer has been developed with the idea to classify roads into a few categories. The principle is very interesting and the implementation brings out many problems to take into consideration and some attempts of solutions.Secondly, a force observer and a tire friction model are combined. This natural approach works well in simulations.},
  author       = {Gerard, Mathieu},
  issn         = {0280-5316},
  keyword      = {Tire-road friction estimation,slip-based methods,hybrid observer,Unscented Kalman Filter,nonlinear friction model.},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Tire-Road Friction Estimation Using Slip-based Observers},
  year         = {2006},
}