Road utilization adhesion coefficient real-time estimation for ASR system

The real-time estimation of road utilization adhesion coefficient is an important issue for the ASR (Anti-Slip Regulation) system of electric wheel independent drive vehicle. Firstly, the 1/4 vehicle dynamics model was built based on the LuGre tire model. Then combined with wheel angular velocity information, the exponential approach law-based sliding mode observer for the road utilization adhesion coefficient estimation was designed. And the observer´s asymptotic stability was proved also. Finally, at different conditions of constant target slip rate, variable target slip rate and ASR controllers of different type, the simulations of road utilization adhesion coefficient real-time estimation were done in the vehicle ASR process. The results show the effectiveness and robustness of the observer proposed.