Experimental Validation Of Tire-road Friction Observer Based On Self-aligning Torque∗

Liang Shao, Jiawei Xiang, Arno Eichberger, Cornelia Lex

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandBegutachtung

Abstract

Automated and cooperative driving is one of the most promising but challenging tasks of automotive industry. For guaranteeing safe operation of automated driving, observing vehicle and environment states is of necessity, in which the tire-road friction coefficient (μmax) is a crucial parameter. We give a solution to this problem by using the estimation framework proposed by the authors [1] for estimating the μmax by utilizing total aligning torque information and experimentally validate this observer. Firstly, we briefly introduce the proposed nonlinear adaptive observer. Then, a robust activation criteria is applied for reliable estimation. The estimation results from the proposed observer and Extended Kalman Filter (EKF) are subsequently compared under various μmax with experiments. The results show that 1) stability can be guaranteed with the proposed observer in various maneuvers while the EKF cannot. 2) The observer performs similar in terms of root mean square estimation error compared to EKF (when EKF is stable). Finally, detailed discussions are conducted to describe the potential limitations of the proposed method for μmax estimation.

Originalspracheenglisch
Titel2022 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers
ISBN (elektronisch)9781665453745
DOIs
PublikationsstatusVeröffentlicht - 2022
Veranstaltung6th CAA International Conference on Vehicular Control and Intelligence: CVCI 2022 - Nanjing, China
Dauer: 28 Okt. 202230 Okt. 2022

Konferenz

Konferenz6th CAA International Conference on Vehicular Control and Intelligence
KurztitelCVCI 2022
Land/GebietChina
OrtNanjing
Zeitraum28/10/2230/10/22

ASJC Scopus subject areas

  • Artificial intelligence
  • Computernetzwerke und -kommunikation
  • Angewandte Informatik
  • Maschinelles Sehen und Mustererkennung
  • Fahrzeugbau
  • Steuerung und Optimierung

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