This paper presents a new algorithm for estimation of the instantaneous value and the maximum value of the tyre-road friction coefficient (the adhesion coefficient) depending on the quality of the road surface. The algorithm applies the discrete-time extended Kalman filter for state estimation. The underlying discrete-time non-linear state-space model was based on a two-wheel longitudinal vehicle dynamics model extended to include the scale factor parameter of the 'magic formula' for the longitudinal tyre force introduced by Pacejka. To verify the Kalman-filter-based algorithm, a validated real-time hardware-in-the-loop simulation environment was utilized, and the results were in agreement with the expectations.


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    Title :

    Tyre-road friction coefficient estimation based on the discrete-time extended Kalman filter




    Publication date :

    2014




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    RVK:    ZO 4200 / ZO 4200:
    Local classification TIB:    275/7025
    BKL:    55.20 Straßenfahrzeugtechnik / 55.20



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