A hierarchical estimator development for estimation of tire-road friction coefficient

dc.contributor.authorZhang, Xudong
dc.contributor.authorGöhlich, Dietmar
dc.date.accessioned2017-02-23T13:07:51Z
dc.date.available2017-02-23T13:07:51Z
dc.date.issued2017-02-08
dc.description.abstractThe effect of vehicle active safety systems is subject to the friction force arising from the contact of tires and the road surface. Therefore, an adequate knowledge of the tire-road friction coefficient is of great importance to achieve a good performance of these control systems. This paper presents a tire-road friction coefficient estimation method for an advanced vehicle configuration, four-motorized-wheel electric vehicles, in which the longitudinal tire force is easily obtained. A hierarchical structure is adopted for the proposed estimation design. An upper estimator is developed based on unscented Kalman filter to estimate vehicle state information, while a hybrid estimation method is applied as the lower estimator to identify the tire-road friction coefficient using general regression neural network (GRNN) and Bayes' theorem. GRNN aims at detecting road friction coefficient under small excitations, which are the most common situations in daily driving. GRNN is able to accurately create a mapping from input parameters to the friction coefficient, avoiding storing an entire complex tire model. As for large excitations, the estimation algorithm is based on Bayes' theorem and a simplified “magic formula” tire model. The integrated estimation method is established by the combination of the above-mentioned estimators. Finally, the simulations based on a high-fidelity CarSim vehicle model are carried out on different road surfaces and driving maneuvers to verify the effectiveness of the proposed estimation method.en
dc.description.sponsorshipDFG, 325093850, Open Access Publizieren 2017 - 2018 / Technische Universität Berlinde
dc.identifier.eissn1932-6203
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/6187
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-5752
dc.language.isoenen
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subject.ddc620 Ingenieurwissenschaften und zugeordnete Tätigkeitende
dc.subject.otherroadsen
dc.subject.otheralgorithmsen
dc.subject.othercovarianceen
dc.subject.otherfrictionen
dc.subject.otherwheelsen
dc.subject.otheraccelerationen
dc.subject.othertorqueen
dc.subject.othersteeringen
dc.titleA hierarchical estimator development for estimation of tire-road friction coefficienten
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.articlenumbere0171085en
dcterms.bibliographicCitation.doi10.1371/journal.pone.0171085en
dcterms.bibliographicCitation.issue2en
dcterms.bibliographicCitation.journaltitlePLoS ONEen
dcterms.bibliographicCitation.originalpublishernamePLoSen
dcterms.bibliographicCitation.originalpublisherplaceSan Franciscoen
dcterms.bibliographicCitation.volume12en
tub.accessrights.dnbfreeen
tub.affiliationFak. 5 Verkehrs- und Maschinensysteme::Inst. Maschinenkonstruktion und Systemtechnik::FG Methoden der Produktentwicklung und Mechatronikde
tub.affiliation.facultyFak. 5 Verkehrs- und Maschinensystemede
tub.affiliation.groupFG Methoden der Produktentwicklung und Mechatronikde
tub.affiliation.instituteInst. Maschinenkonstruktion und Systemtechnikde
tub.publisher.universityorinstitutionTechnische Universität Berlinen

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