Dynamic friction model-based tire-road friction estimation and emergency braking control

被引：95

作者：

Alvarez, L ^{[1
]}

Yi, JG

Horowitz, R

Olmos, L

机构：

[1] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico

[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2005年 / 127卷 / 01期

关键词：

automotive control; adaptive control; nonlinear observers;

D O I：

10.1115/1.1870036

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.

引用

页码：22 / 32

页数：11

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