Robust road friction estimation during vehicle steering. Issue 4 (3rd April 2019)

• Record Type: Journal Article
• Authors: Shao, Liang; Jin, Chi; Lex, Cornelia; Eichberger, Arno
• Is Part Of: Vehicle system dynamics. Volume 57:Issue 4(2019)
• Page Start: 493
• Page End: 519
• Publication Date: 2019-04-03
• Subjects: Road friction estimation -- active safety -- adaptive observer -- automated driving; Motor vehicles -- Dynamics -- Periodicals; Electronic journals; 629.231
• DOI: 10.1080/00423114.2018.1475678
• Languages: English
• ISSNs: 0042-3114

Abstract

ABSTRACT: Automated vehicles require information on the current road condition, i.e. the tyre–road friction coefficient for trajectory planning, braking or steering interventions. In this work, we propose a framework to estimate the road friction coefficient with stability and robustness guarantee using total aligning torque in vehicle front axle during steering. We first adopt a novel strategy to estimate the front axle lateral force which performs better than the classical unknown input observer. Then, combined with an indirect measurement based on estimated total aligning torque and front axle lateral force, a non-linear adaptive observer is designed to estimate road friction coefficient with stability guarantee. To increase the robustness of the estimation result, criteria are proposed to decide when to update the estimated road conditions. Simulations and experiments under various road conditions validate the proposed framework and demonstrate its advantage in stability by comparing it with the method utilising the wide-spread Extended Kalman Filter.