Citation

Villagra J, d'Andréa-Novel B, Fliess M, Mounier H. Control Eng. Pract. 2011; 19(2): 174-184.

Copyright

(Copyright © 2011, Pergamon Press)

DOI

10.1016/j.conengprac.2010.11.005

PMID

unavailable

Abstract

A new approach to estimate vehicle tire forces and road maximum adherence is presented. Contrarily to most of the previous works on this subject, it is not an asymptotic observer-based estimation, but a combination of elementary diagnosis tools and new algebraic techniques for filtering and estimating derivatives of noisy signals. In a first step, instantaneous friction and lateral forces will be computed within this framework. Then, extended braking stiffness concept is exploited to detect which braking efforts allow to distinguish a road type from another. A weighted Dugoff model is used during these 'distinguishable' intervals to estimate the maximum friction coefficient. Very promising results have been obtained in noisy simulations and real experimentations for most of the driving situations.

Language: en