Tyre-road friction coefficient estimation based on tyre lateral deflection

摘要: In this paper we present the tyre-road friction coefficient estimation which depends on the estimation of tyre slip angle, lateral and vertical tyre forces, and the use of a brush model. The lateral force acting on the tyre is obtained by using the coefficient of a parabolic function which approximates the deflection profile inside the contact patch. The slip angle is estimated by a nonlinear observer for the vehicle longitudinal and lateral velocity and roll position and velocity. This technique is based on measurements of the yaw rate and steering angle, longitudinal and lateral acceleration usually available in modern vehicles. Effectiveness and performance of the proposed nonlinear observer and tyre-road friction coefficient estimation are shown making use of an accurate vehicle simulator for a maneuver made on different road surface conditions.