Grid Search Based Tire-Road Friction Estimation
The tire-road friction coefficient (μ<sub>max</sub>) is an important input for vehicle dynamics control system and automated driving modules. However, reliable and accurate measurement of this parameter is difficult and costly in mass-produced vehicles and thus estimation is n...
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doaj-894b38ecac354d9abd065660005e60df2021-03-30T02:12:47ZengIEEEIEEE Access2169-35362020-01-018815068152510.1109/ACCESS.2020.29917929084111Grid Search Based Tire-Road Friction EstimationLiang Shao0https://orcid.org/0000-0002-2382-0285Chi Jin1Arno Eichberger2https://orcid.org/0000-0001-8246-8085Cornelia Lex3College of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou, ChinaDepartment of Systems Design Engineering, University of Waterloo, Waterloo, ON, CanadaInstitute of Automotive Engineering, Graz University of Technology, Graz, AustriaCollege of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou, ChinaThe tire-road friction coefficient (μ<sub>max</sub>) is an important input for vehicle dynamics control system and automated driving modules. However, reliable and accurate measurement of this parameter is difficult and costly in mass-produced vehicles and thus estimation is necessary. In this research, an innovative optimization based framework to estimate μ<sub>max</sub> is proposed. The observation problem is formulated as a non-convex optimization. A novelty of the framework is that the μmax can be accurately estimated in real time together with side slip angle as a by-product without requiring a good initial guess for the non-convex optimization. A key observation is that the time derivative of μmax and side slip angle can be assumed as zero and computed based on measurement, respectively. This allows the observed variables to be updated at a relatively low frequency w.r.t. the solution of the optimization problem. During the interval between each two neighbouring updating time, the observer estimates the μ<sub>max</sub> and side slip angle by integrating sensor information based on the last update. To find the global optima approximately, a grid search method is implemented for solving non-convex optimization. The estimation results from the proposed observer and a linearization based observer (lbo) are finally compared under various tire-road conditions with simulations and experiments. The results showed that 1) the proposed observer can always guarantee stability in a wide range of vehicle operations while lbo cannot. 2) w.r.t. root mean square of estimation error, the proposed observer performs overall better than lbo in μmax estimation.https://ieeexplore.ieee.org/document/9084111/Tire-road friction estimationside slip angleoptimizationgrid search |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Liang Shao Chi Jin Arno Eichberger Cornelia Lex |
spellingShingle |
Liang Shao Chi Jin Arno Eichberger Cornelia Lex Grid Search Based Tire-Road Friction Estimation IEEE Access Tire-road friction estimation side slip angle optimization grid search |
author_facet |
Liang Shao Chi Jin Arno Eichberger Cornelia Lex |
author_sort |
Liang Shao |
title |
Grid Search Based Tire-Road Friction Estimation |
title_short |
Grid Search Based Tire-Road Friction Estimation |
title_full |
Grid Search Based Tire-Road Friction Estimation |
title_fullStr |
Grid Search Based Tire-Road Friction Estimation |
title_full_unstemmed |
Grid Search Based Tire-Road Friction Estimation |
title_sort |
grid search based tire-road friction estimation |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
The tire-road friction coefficient (μ<sub>max</sub>) is an important input for vehicle dynamics control system and automated driving modules. However, reliable and accurate measurement of this parameter is difficult and costly in mass-produced vehicles and thus estimation is necessary. In this research, an innovative optimization based framework to estimate μ<sub>max</sub> is proposed. The observation problem is formulated as a non-convex optimization. A novelty of the framework is that the μmax can be accurately estimated in real time together with side slip angle as a by-product without requiring a good initial guess for the non-convex optimization. A key observation is that the time derivative of μmax and side slip angle can be assumed as zero and computed based on measurement, respectively. This allows the observed variables to be updated at a relatively low frequency w.r.t. the solution of the optimization problem. During the interval between each two neighbouring updating time, the observer estimates the μ<sub>max</sub> and side slip angle by integrating sensor information based on the last update. To find the global optima approximately, a grid search method is implemented for solving non-convex optimization. The estimation results from the proposed observer and a linearization based observer (lbo) are finally compared under various tire-road conditions with simulations and experiments. The results showed that 1) the proposed observer can always guarantee stability in a wide range of vehicle operations while lbo cannot. 2) w.r.t. root mean square of estimation error, the proposed observer performs overall better than lbo in μmax estimation. |
topic |
Tire-road friction estimation side slip angle optimization grid search |
url |
https://ieeexplore.ieee.org/document/9084111/ |
work_keys_str_mv |
AT liangshao gridsearchbasedtireroadfrictionestimation AT chijin gridsearchbasedtireroadfrictionestimation AT arnoeichberger gridsearchbasedtireroadfrictionestimation AT cornelialex gridsearchbasedtireroadfrictionestimation |
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