An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.
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e-mail: jgyi@me.berkeley.edu
e-mail: horowitz@me.berkeley.edu
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March 2005
Technical Papers
Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
Luis Alvarez,
Luis Alvarez
Professor
Instituto de Ingeniería Universidad Nacional Autónoma de México
, 04510 Coyoacán DF, México
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Jingang Yi,
e-mail: jgyi@me.berkeley.edu
Jingang Yi
Department of Mechanical Engineering, University of California
, Berkeley, CA 94720-1740
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Roberto Horowitz,
e-mail: horowitz@me.berkeley.edu
Roberto Horowitz
Professor
Department of Mechanical Engineering, University of California
, Berkeley, CA 94720-1740
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Luis Olmos
e-mail: luiso10@yahoo.com
Luis Olmos
Graduate Student
Instituto de Ingeniería Universidad Nacional Autónoma de México
, 04510 Coyoacán DF, México
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Luis Alvarez
Professor
Instituto de Ingeniería Universidad Nacional Autónoma de México
, 04510 Coyoacán DF, México
Jingang Yi
Department of Mechanical Engineering, University of California
, Berkeley, CA 94720-1740e-mail: jgyi@me.berkeley.edu
Roberto Horowitz
Professor
Department of Mechanical Engineering, University of California
, Berkeley, CA 94720-1740e-mail: horowitz@me.berkeley.edu
Luis Olmos
Graduate Student
Instituto de Ingeniería Universidad Nacional Autónoma de México
, 04510 Coyoacán DF, Méxicoe-mail: luiso10@yahoo.com
J. Dyn. Sys., Meas., Control. Mar 2005, 127(1): 22-32 (11 pages)
Published Online: June 21, 2004
Article history
Received:
January 17, 2003
Revised:
June 21, 2004
Citation
Alvarez, L., Yi, J., Horowitz, R., and Olmos, L. (June 21, 2004). "Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control." ASME. J. Dyn. Sys., Meas., Control. March 2005; 127(1): 22–32. https://doi.org/10.1115/1.1870036
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