This paper presents a novel real-time tire–road friction coefficient estimation method that is independent of vehicle longitudinal motion for ground vehicles with separable control of the front and rear wheels. The tire–road friction coefficient information is of critical importance for vehicle dynamic control systems and intelligent autonomous vehicle applications. In this paper, the vehicle longitudinal-motion-independent tire–road friction coefficient estimation method consists of three main components: 1) an observer to estimate the internal state of a dynamic LuGre tire model; 2) an adaptive control law with a parameter projection mechanism to track the desired vehicle longitudinal motion in the presence of tire–road friction coefficient uncertainties and actively injected braking excitation signals; and 3) a recursive least square estimator that is independent of the control law, to estimate the tire–road friction coefficient in real time. Simulation results based on a high-fidelity CarSim full-vehicle model show that the system can reliably estimate the tire–road friction coefficient independent of vehicle longitudinal motion.
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Chen et al. (2011) studied this question.
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