On-Line Road Condition Estimation And Vehicle Braking Control Based On LuGre Tire Dynamic Friction Model

Anti-lock Braking system (ABS) is widely used to improve the safety of automotive braking process, but traditional scheme of ABS can not make best use of the friction force between tire and road surface, and the method of road estimation can't accurately describe the different real road condition.A new method for vehicle braking control and road identification was introduced using the LuGre tire dynamic friction model, which is usually regarded as the most comprehensive control-oriented friction model to date for the consistency with the"magic formula". Based on this model, how the system parameters affect the steady property of tire/road friction was analyzed, and the parameters that must be accurately estimated was obtained, then an adaptive control scheme for braking of vehicles was designed using calculated slipping-rate as a reference, for the purpose of optimization of braking.Moreover, road parameter was estimated using a parameter adaptation law, called MIT rule. All the algorithms were realized based on that the braking pressure can only be adjusted with three methods, i.e., increasing, maintaining and decreasing.The vehicle response under several road conditions and other variant automotive cruise conditions is simulated using matlab/simulink, as well as road condition on-line identification. According to the simulation results, the difference between the method introduced and traditional were...