Research on Tire/Road Peak Friction Coefficient Estimation Considering Effective Contact Characteristics between Tire and Three-Dimensional Road Surface

Abstract

In the field of transportation, the accurate estimation of tire–road peak friction coefficient (TRPFC) is very important to improve vehicle safety performance and the efficiency of road maintenance. The existing estimation algorithms rarely consider the influence of road roughness and road texture on the estimation results. This paper proposes an estimation method of TRPFC considering the effective contact characteristics between the tire and the three-dimensional road. In the longitudinal and lateral directions of tire–road contact, the model is optimized by incorporating the effective contact area ratio coefficient into the LuGre tire model. The optimized model characterizes the road texture by road power spectrum and establishes the relationship between road texture and tire force. In the vertical direction of tire–road contact, the force transfer between tire and road is represented by a new multi-point contact method. By combining the above models with the normalization method and the unscented Kalman filter (UKF), the timely and accurate estimation of the peak friction coefficient of the tire and the 3D road is realized. Simulation and real vehicle experiments verify the effectiveness of the estimation algorithm.

Keywords

• TRPFC estimation
• three-dimensional road surface
• effective contact
• modified LuGre tire model
• tire/road contact