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

  • Nenggen DingEmail author
  • Xiaofei Zhan
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 198)


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.


Brake pressure estimation Road friction estimation Recursive least square algorithm ABS 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

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

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