Friction detection from stationary steering manoeuvres
Friction detection from stationary steering manoeuvres
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DOI：
10.1080/00423114.2019.1645862
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发表时间：
2020-11
影响因子：
3.6
通讯作者：
C. Beal;S. Brennan
中科院分区：
文献类型：
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作者：
C. Beal;S. Brennan
车辆轮胎与路面之间的摩擦系数是决定车辆运动的最关键参数之一。然而，大多数用于从车辆运动中识别道路摩擦的技术要求车辆在高度动态的操纵中操作，这利用了轮胎抓地力的很大一部分。因此，足以提供摩擦系数的合理估计的动力学激励也可能使车辆不稳定。本文提出了一种替代方法来估计摩擦，其中静态转向操纵，如那些在瞬间执行，而车辆不移动在停车场内或在十字路口，可用于识别轮胎-道路摩擦特性之前，更高的速度操作。本文介绍了一个模型和结果，从使用静态转向过程中，以识别摩擦。该方法进行了验证，从线控转向测试车辆的实验数据，以说明该技术的有效性。
The friction coefficient between the tyres of a vehicle and the roadway is one of the most critical parameters governing a vehicle's motion. However, most techniques for identifying road friction from vehicle motion require the operation of the vehicle in highly dynamic manoeuvres that utilise a significant portion of the tyre grip capacity. Thus, the excitation of dynamics sufficient to provide a reasonable estimate of the friction coefficient could also destabilise the vehicle. This paper presents an alternative approach to friction estimation wherein stationary steering manoeuvres, such as those performed in moments while a vehicle is not moving within a parking lot or at an intersection, may be used to identify the tyre-road friction characteristics prior to higher speed operation. The paper describes a model and results from using a stationary steering process to identify friction. The approach is validated with experimental data from a steer-by-wire test vehicle to illustrate the efficacy of the technique.