Tire-road friction is the most important piece of information used by active safety systems. However, most conventional friction estimation/ detection methods are accurate only within the non-linear region. In addition, such methods require numerous sensors, such as yaw rate sensors, acceleration sensors, and steering angle sensors. In this paper, a friction estimation method using a tire vibra...

In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model [7]. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the fr...

This paper presents an enabling comprehensive vehicle stability assessment system covering longitudinal, yaw and roll stability. First, the lateral vertical tire forces are separately estimated using strong tracking unscented Kalman filter conventional based on low-cost on-board sensors. Then, a space is established by utilizing normalized friction ellipse Load Transfer Ratio value. Finally, de...

Vehicle Dynamics Control (VDC) systems require the information about system variables, which cannot be directly measured, e.g., the wheel slip or the vehicle side-slip angle. This paper presents a new concept for the vehicle state estimation under assumption that the vehicle is equipped with the standard VDC sensors. It is proposed to utilize an Unscented Kalman Filter (UKF) for estimation purp...

A novel observer structure for vehicle side slip angle (β ) estimation is proposed, in which a local approximation of the nonlinear tire model is adopted. Fuzzy logic approach is adopted to combine the local observer models so as to deal with the nonlinear nature of vehicle dynamics. The derivation of observer’s state equations and the estimation mechanism is developed. By choosing the membersh...

Real-time measurement of tire-road friction coefficient is extremely valuable for winter road maintenance operations and can be used to optimize the kind and quantity of the deicing and anti-icing chemicals applied to the roadway. In this project, a wheel based tire-road friction coefficient measurement system is first developed for snowplows. Unlike a traditional Norse meter, this system is ba...

the tire-mechanics models have been developed for the study of wheel movement on the road or soil surface while these models are unlikely to describe the motion of wheels on uneven surfaces. due to dynamical complexity of this phenomena and the importance of this subject for farm conditions and the wheel carrier devices, the present research aimed to investigate the effects of several parameter...

In this paper, a novel vehicle dynamics controller is proposed by combining two control loops which are formed by the individually actuated wheel braking and steering regulator. The inner braking loop regulates the individual tire force generation and prevents tire force saturation with respect to tire slip. When the tire forces are regulated to operate in the linear region of their nonlinear c...

A new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles is validated via experiments with an actual passenger vehicle. Contrary to common static friction/slip maps, this new dynamic friction model is able to accurately capture the transient behavior of the friction force observed during transitions between braking and acceleration. A velocitydep...

Aalto University, P.O. Box 11000, FI-00076 Aalto www.aalto.fi Author Yi Xiong Name of the doctoral dissertation In-plane Tire Deformation Measurement Using a Multi-Laser Sensor System Publisher School of Engineering Unit Department of Mechanical Engineering Series Aalto University publication series DOCTORAL DISSERTATIONS 89/2016 Field of research Engineering Design and Production Manuscript su...