Vehicle models and estimation of contact forces and tire road friction

Sie sind hier: Homepage > Suche

Vehicle models and estimation of contact forces and tire road friction

M'Sirdi, Nacer K. / Rabhi, Abdelhamid / Naamane, Aziz

A 16 DOF (Degree OF Freedom) vehicle model is presented and discussed. Some partial models are considered and justified for the design of robust estimators using sliding mode approach in order to identify the tire-road friction or input variables. An efficient and robust estimator is proposed based on the second-order sliding mode differentiator. This is used to build an estimation scheme allowing identifying the tire road frictions and inputting forces which are non-observable when using the complete model and standard sensors. The estimations produced finite time converging measurements of model inputs, in three steps by cascaded observers and estimators. This method shows very good performances in simulations conducted using a more complex model (than the 16 DOF one) involved in VeDyna car simulator. Tire forces (vertical and longitudinal ones) are also estimated correctly. Simulation results are presented to illustrate the ability of this approach to give estimation of both vehicle states and tire forces. The robustness versus uncertainties on model parameters and neglected dynamics has also been emphasized in simulations. Application of this approach with inclusion of torque estimation using a simplified model for the engine behaviour is in progress.