Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability,traction,and ABS controllers on the low friction surfaces are the most important f...Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability,traction,and ABS controllers on the low friction surfaces are the most important factors affecting car crashes.Due to its direct relation to vehicle stability,accurate estimation of tire-road friction is of interest to all vehicle and tire companies.Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms.This literature survey introduces different approaches,which have been widely used to estimate the friction or other related parameters,and covers the recent literature that contains these methodologies.The emphasize of this review paper is on the algorithms and studies,which are more popular and have been repeated several times.The focus has been divided into two main groups:experiment-based and model-based approaches.Each of these main groups has several sub-categories,which are explained in the next few sections.Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms,which are widely used in friction estimation studies.展开更多
Road friction coefficient real-time estimation methods is an important issue and problem in automotive active safety con- trol system development. First a fixed feedback gain sliding mode observer of road adhesion coe...Road friction coefficient real-time estimation methods is an important issue and problem in automotive active safety con- trol system development. First a fixed feedback gain sliding mode observer of road adhesion coefficient is designed through the es-tablishment of tire/road dynamic friction model in this article. The simulation results shows that the observer can well real-time iden-tify the current road adhesion characteristics. And more importantly, the observer only need wheel speed signal and the braking torque （brake pressure） signal, so the system is low cost, and its adaptability is good. There is no doubt this estimation method has a good application prospect.展开更多
Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and st...Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method According to road identification,the optimal sip ratio under the current driving condition is obtainedand a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.展开更多
To explore the research status on mechanism of the skid-resistance for asphalt pavement, the related achievements of the rubber friction, the tire–road contact, and the influence factors were reviewed. The rubber fri...To explore the research status on mechanism of the skid-resistance for asphalt pavement, the related achievements of the rubber friction, the tire–road contact, and the influence factors were reviewed. The rubber friction was reviewed from the mechanism and rubber friction model. The tire-road contact was studied from the modeling methods, the evaluation methods, and the skid-resistance mechanisms at different conditions. The influence factors of skid-resistance were summarized from different designing processes. This review showed that the appropriate contact or evaluation model should be selected according to the required parameters. Although the finite element method is widely used, the accuracy of the model, the boundary conditions, and the load cases need to be further improved. The optimized aggregates and asphalt binders, reasonable gradation, reasonable geometric design, and strict construction quality control are necessary for good initial skid-resistance. Pavement texture as an important factor affecting skid-resistance should be considered in pavement gradation design, especially for wearing layer technology.展开更多
A novel tire-road adaptive model in longitude direction to formulate the dynamic characteristic between tire and road is proposed in this paper, based on this model, a new adaptive approach of road condition identific...A novel tire-road adaptive model in longitude direction to formulate the dynamic characteristic between tire and road is proposed in this paper, based on this model, a new adaptive approach of road condition identification is presented to identify the model＇s parameters on-line in order to improve the performance of anti-slip regulation system（ASR）. The optimal slip is determined by using the drive wheel＇s slip and longitude traction force in ASR before the slipping of the drive wheel. Co-simulation is done based on the model for JETTA GTX building with ADAMS/CAR and Matlab, and results show that the adaptive model accords with Pacejka model very well. This adaptive model has simpler form, less number of parameters and higher adaptability than usual, and the new identification approach has a small amounts of operation, which is very suitful for ASR.展开更多
文摘Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability,traction,and ABS controllers on the low friction surfaces are the most important factors affecting car crashes.Due to its direct relation to vehicle stability,accurate estimation of tire-road friction is of interest to all vehicle and tire companies.Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms.This literature survey introduces different approaches,which have been widely used to estimate the friction or other related parameters,and covers the recent literature that contains these methodologies.The emphasize of this review paper is on the algorithms and studies,which are more popular and have been repeated several times.The focus has been divided into two main groups:experiment-based and model-based approaches.Each of these main groups has several sub-categories,which are explained in the next few sections.Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms,which are widely used in friction estimation studies.
基金Partially Supported by Henan Polytechnic University Doctoral Fund(No.B2010-12)+2 种基金Natural Science Fund of Henan Province Education Department(No.2011B580001)Henan Province Key Technology Research Project(No.122102210045)
文摘Road friction coefficient real-time estimation methods is an important issue and problem in automotive active safety con- trol system development. First a fixed feedback gain sliding mode observer of road adhesion coefficient is designed through the es-tablishment of tire/road dynamic friction model in this article. The simulation results shows that the observer can well real-time iden-tify the current road adhesion characteristics. And more importantly, the observer only need wheel speed signal and the braking torque （brake pressure） signal, so the system is low cost, and its adaptability is good. There is no doubt this estimation method has a good application prospect.
基金This work was supported by the Weapons and Equipment Pre-Research Project of China(No.301051102).
文摘Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method According to road identification,the optimal sip ratio under the current driving condition is obtainedand a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.
基金This paper is part of the research work of National Key R&D Project of China(Grant Nos.2021YFB2600601 and 2021YFB2600600)The authors would like to acknowledge the financial support provided by the National Natural Science Foundation of China(Grant Nos.51922030,52278444 and 52308446)+1 种基金Natural Science Foundation of Jiangsu(Grant No.BK20220845)“the Fundamental Research Funds for the Central Universities”(Grant No.2242022R10019).
文摘To explore the research status on mechanism of the skid-resistance for asphalt pavement, the related achievements of the rubber friction, the tire–road contact, and the influence factors were reviewed. The rubber friction was reviewed from the mechanism and rubber friction model. The tire-road contact was studied from the modeling methods, the evaluation methods, and the skid-resistance mechanisms at different conditions. The influence factors of skid-resistance were summarized from different designing processes. This review showed that the appropriate contact or evaluation model should be selected according to the required parameters. Although the finite element method is widely used, the accuracy of the model, the boundary conditions, and the load cases need to be further improved. The optimized aggregates and asphalt binders, reasonable gradation, reasonable geometric design, and strict construction quality control are necessary for good initial skid-resistance. Pavement texture as an important factor affecting skid-resistance should be considered in pavement gradation design, especially for wearing layer technology.
文摘A novel tire-road adaptive model in longitude direction to formulate the dynamic characteristic between tire and road is proposed in this paper, based on this model, a new adaptive approach of road condition identification is presented to identify the model＇s parameters on-line in order to improve the performance of anti-slip regulation system（ASR）. The optimal slip is determined by using the drive wheel＇s slip and longitude traction force in ASR before the slipping of the drive wheel. Co-simulation is done based on the model for JETTA GTX building with ADAMS/CAR and Matlab, and results show that the adaptive model accords with Pacejka model very well. This adaptive model has simpler form, less number of parameters and higher adaptability than usual, and the new identification approach has a small amounts of operation, which is very suitful for ASR.
