Model-Based Recursive Least Square Algorithm for Estimation of Brake Pressure and Road Friction

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 198)

Abstract

A recursive least square algorithm for estimation of brake cylinder pressure and road surface coefficients of adhesion using wheel speeds and control inputs for the hydraulic unit is proposed. It is intended for providing useful information for anti-lock brake systems (ABS) to improve the performance of control logic and diagnostic function. Based on the brake pressure model and wheel/vehicle dynamics, the errors between estimated wheel angular acceleration and its actual value according to the measured wheel speeds are minimized. Longitudinal load transfer is considered for calculation of tire normal forces based on the estimated deceleration according to the vehicle reference speeds from the ABS control logic. The proposed algorithm is evaluated using ABS simulation data under various braking conditions on a hardware-in-the-loop (HIL) test rig.

Keywords

Brake pressure estimation Road friction estimation Recursive least square algorithm ABS 

References

  1. 1.
    O’Dea KA (2005) Anti-lock braking performance and hydraulic brake pressure estimation. SAE Paper Series 2005-01-1061, April 2005Google Scholar
  2. 2.
    Mauer GF, Gissinger GF, Chamaillard Y (1994) Fuzzy logic continuous and quantizing control of an abs braking system. SAE Paper Series 940830, Mar 1994Google Scholar
  3. 3.
    Shraim HA (2007) Robust virtual sensors and controller design to improve vehicle stability enhancement in the critical situations. SAE Paper Series 2007-01-0779, April 2007Google Scholar
  4. 4.
    Li L, Song J, Yang C et al (2007) Tire force fast estimation and compensation method for vehicle dynamics stability real time control. SAE Paper Series 2007-01-4244, Oct 2007Google Scholar
  5. 5.
    Guo K, Liu L (1999) A study on hydraulic characteristics of anti-lock brake systems. J Jilin Univ Technol (Nat Sci) 29:1–5Google Scholar
  6. 6.
    Canudas-de-wit C, Tsiotras P, Velenis E et al (2002) Dynamic friction models for road/tire longitudinal interaction vehicle system dynamics. Draft article, Oct 14Google Scholar
  7. 7.
    Harned J, Johnston L, Scharpf G (1969) Measurement of tire brake force characteristics as related to wheel slip (antilock) control system design. SAE Trans 78:909–925 (Paper 690214)Google Scholar
  8. 8.
    Yi K, Hedrick K, Lee S.(1999) Estimation of tire-road friction using observer based identifiers. Veh Syst Dyn, 31(4):233–261Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Department of Automobile Engineering Beihang UniversityBeijingPeople’s Republic of China

Personalised recommendations