Road Adhesion Coefficient Estimation Based on Second-Order Linear Extended State Observer

In order to estimate different road adhesion coefficients, a new method based on the second-order linear extended state observer is proposed improve active safety and driving stability of vehicles. The vehicle single-wheel dynamics model braking are built with analyzing processes vehicle. controllers ASR ABS designed by using sliding mode structure control, chattering phenomenon control eliminated saturation function. coefficient can be estimated in real time wheel speeds, torque used as input variables. simulation results show that estimation accurately identify roads presence external interference has strong robustness. At same time, it also provides reference for design system unmanned