contributor author | Carnier, Stefano | |
contributor author | Corno, Matteo | |
contributor author | Savaresi, Sergio M. | |
date accessioned | 2023-11-29T19:50:32Z | |
date available | 2023-11-29T19:50:32Z | |
date copyright | 4/3/2023 12:00:00 AM | |
date issued | 4/3/2023 12:00:00 AM | |
date issued | 2023-04-03 | |
identifier issn | 0022-0434 | |
identifier other | ds_145_05_051004.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4295064 | |
description abstract | Vehicle sideslip and tyre/road friction are crucial variables for advanced vehicle stability control systems. Estimation is required since direct measurement through sensors is costly and unreliable. In this paper, we develop and validate a sideslip estimator robust to unknown road grip conditions. Particularly, the paper addresses the problem of rapid tyre/road friction adaptation when sudden road condition variations happen. The algorithm is based on a hybrid kinematic-dynamic closed-loop observer augmented with a tyre/road friction classifier that reinitializes the states of the estimator when a change of friction is detected. Extensive experiments on a four wheel drive electric vehicle carried out on different roads quantitatively validate the approach. The architecture guarantees accurate estimation on dry and wet asphalt and snow terrain with a maximum sideslip estimation error lower than 1.5 deg. The classifier correctly recognizes 87% of the friction changes; wrongly classifies 2% of the friction changes while it is unable to detect the change in 11% of the cases. The missed detections are due to the fact that the algorithm requires a certain level of vehicle excitation to detect a change of friction. The average classification time is 1.6 s. The tests also indicate the advantages of the friction classifiers on the sideslip estimation error. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Hybrid Kinematic-Dynamic Sideslip and Friction Estimation | |
type | Journal Paper | |
journal volume | 145 | |
journal issue | 5 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.4062159 | |
journal fristpage | 51004-1 | |
journal lastpage | 51004-10 | |
page | 10 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2023:;volume( 145 ):;issue: 005 | |
contenttype | Fulltext | |