Rapid Road Friction Estimation using Independent Left/Right Steering Torque Measurements
Rapid Road Friction Estimation using Independent Left/Right Steering Torque Measurements
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DOI：
10.1080/00423114.2019.1580377
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发表时间：
2020-03
影响因子：
3.6
通讯作者：
C. Beal
中科院分区：
文献类型：
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作者：
C. Beal
摘要 传感汽车轮胎与路面之间的摩擦系数是汽车控制中的一个关键挑战。准确估计该参数可以实现车辆的更高性能和更安全的操作，无论是人工操作、辅助还是自动控制。以前的方法利用制动或横向激励来生成估计值，但由于产生足够的激励与保持乘坐舒适性和高效运行之间的冲突而受到限制。使问题进一步复杂化的是需要在不向车辆添加昂贵的传感器的情况下提供摩擦力估计。本文提出了一种摩擦估计方法，该方法利用左右转向扭矩的单独测量，通过直接模型反演生成表面摩擦的估计。使用实验传感器特性和反演模型分析来探索该方法的不确定性。该方法被证明对降低的摩擦系数很敏感，并且可以在行驶完整的接触面积长度之前识别突然的变化。该方法的实验验证通过校准的车轮力传感器以及适合集成到生产车辆中的低成本传感器进行了验证。
Abstract Sensing the friction coefficient between the tyres of an automobile and the road surface is a key challenge in automotive control. Accurate estimation of this parameter enables higher performance and safer operation of vehicles, whether human-operated, assisted or autonomously controlled. Previous approaches have utilised braking or lateral excitation to generate estimates but are limited by the conflict between generating sufficient excitation and preserving ride comfort and efficient operation. Further complicating the problem is the need to provide the friction estimate without adding costly sensors to the vehicle. This paper presents an approach to friction estimation that leverages separate measurements of the left and right steering torques to generate an estimate of the surface friction through direct model inversion. Uncertainty of the method is explored using experimental sensor properties and analysis of the inverted model. The method is shown to be sensitive to reduced friction coefficients and can identify sudden changes before travelling a full contact patch length. Experimental validation of the approach is demonstrated with calibrated wheel force transducers as well as low-cost sensors suitable for incorporation into production vehicles.