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Estimation of automotive tire force characteristics using wheel velocity.pdf

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Estimation of automotive tire force characteristics using wheel velocity

Control Engineering Practice 11 (2003) 1361–1370 Estimation of automotive tire force characteristics using wheel velocity Eiichi Onoa,*, Katsuhiro Asanoa, Masaru Sugaia, Shoji Itob, Masaki Yamamotob, Mamoru Sawadac, Yoshiyuki Yasuid aVehicle Control Lab; Toyota Central R D Labs. Inc., Nagakute, Aichi 480-1192, Japan bToyota Motor Corp./Susono, Shizuoka, Japan cDenso Corp./Kariya, Aichi, Japan dAisin Seiki Co., Ltd./Kariya, Aichi, Japan Received 29 October 2002; accepted 21 March 2003 Abstract It is important to estimate friction force characteristics between tire and road in order to improve the control performance of a vehicle in critical motions. In this paper, an estimation method which estimates parameters concerned with a friction force margin is proposed by applying the on-line least-squares method to wheel rotational velocities. The effect of the estimation is evaluated by applying the method to the braking control. r 2003 Elsevier Science Ltd. All rights reserved. Keywords: Automobiles; Vehicle dynamics; Wheels; Velocity; Least-squares estimation; Brakes; Tyres; Friction; Servo; Control 1. Introduction For analysis and computer simulation, various tire models for automotive vehicles are proposed (Bernard, Segel, Wild, 1977; Bakker, Nyborg, Pacejka, 1987). If the friction force margin of each wheel can be estimated by using tire models, it is expected that the control performance of the vehicle can be improved. However, the parameters of the tire model are changed depending on the condition of tire and road. Then, it is difficult to use the tire model for estimating friction force margin, and a robust control approach, which treats tire characteristics as plant perturbations, is proposed (Ono Hosoe, 2000). In this paper, we estimate friction force characteristics between tire and road using wheel velocity. The parameter concerned with friction force margin is estimated by the method. The method brings high performance of vehicle control, which cannot be a