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	Road Friction Estimation under Complicated Maneuver Conditions for Active Yaw Control
	Li Liang ; Li Hongzhi ; Song Jian ; Yang Cai ; Wu Hao
	2010-10-12 ; 2010-10-12
关键词	active yaw control road friction coefficient estimation sensor fusion SLIP Engineering, Mechanical
中文摘要	Road friction coefficient is a key factor for the stability control of the vehicle dynamics in the critical conditions. Obviously the vehicle dynamics stability control systems, including the anti-lock brake system(ABS), the traction control system(TCS), and the active yaw control(AYC) system, need the accurate tire and road friction information. However, the simplified method based on the linear tire and vehicle model could not obtain the accurate road friction coefficient for the complicated maneuver of the vehicle. Because the active braking control mode of AYC is different from that of ABS, the road friction coefficient cannot be estimated only with the dynamics states of the tire. With the related dynamics states measured by the sensors of AYC, a comprehensive strategy of the road friction estimation for the active yaw control is brought forward with the sensor fusion technique. Firstly, the variations of the dynamics characteristics of vehicle and tire, and the stability control mode in the steering process are considered, and then the proper road friction estimation methods are brought forward according to the vehicle maneuver process. In the steering maneuver without braking, the comprehensive road friction from the four wheels may be estimated based on the multi-sensor signal fusion method. The estimated values of the road friction reflect the road friction characteristic. When the active brake involved, the road friction coefficient of the braked wheel may be estimated based on the brake pressure and tire forces, the estimated values reflect the road friction between the braked wheel and the road. So the optimal control of the wheel slip rate may be obtained according to the road friction coefficient. The methods proposed in the paper are integrated into the real time controller of AYC, which is matched onto the test vehicle. The ground tests validate the accuracy of the proposed method under the complicated maneuver conditions.
语种	英语 ; 英语
出版者	EDITORIAL OFFICE CHINESE JOURNAL MECHANICAL ENGINEERING ; BEIJING ; 22 BAIWANZHUANG DAJIE, BEIJING, 100037, PEOPLES R CHINA
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/80079]
专题	清华大学
推荐引用方式 GB/T 7714	Li Liang,Li Hongzhi,Song Jian,et al. Road Friction Estimation under Complicated Maneuver Conditions for Active Yaw Control[J],2010, 2010.
APA	Li Liang,Li Hongzhi,Song Jian,Yang Cai,&Wu Hao.(2010).Road Friction Estimation under Complicated Maneuver Conditions for Active Yaw Control..
MLA	Li Liang,et al."Road Friction Estimation under Complicated Maneuver Conditions for Active Yaw Control".(2010).

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