Journal
CONTROL ENGINEERING PRACTICE
Volume 21, Issue 1, Pages 65-75Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2012.09.009
Keywords
Tire-road friction estimation; Tire cornering stiffness estimation; Wheel independently actuated vehicle
Funding
- Office of Naval Research Young Investigator Program (ONR-YIP) Award [N00014-09-1-1018]
- Honda-OSU Partnership Program
- OSU Transportation Research Endowment Program
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A sequential tire cornering stiffness coefficient and tire-road friction coefficient (TRFC) estimation method is proposed for some advanced vehicle architectures, such as the four-wheel independently-actuated (FWIA) electric vehicles, where longitudinal tire force difference between the left and right sides of the vehicle can be easily generated. Such a tire force difference can affect the vehicle yaw motion, and can be utilized to estimate the tire cornering stiffness coefficient and TRFC. The proposed tire cornering stiffness coefficient and TRFC identification method has the potential of estimating these parameters without affecting the vehicle desired motion control and trajectory tracking objectives. Simulation and experimental results with a FWIA electric vehicle show the effectiveness of the proposed estimation method. (C) 2012 Elsevier Ltd. All rights reserved.
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