Title :
Nonlinear estimation of longitudinal tire slip under several driving conditions
Author :
Carlson, Christopher R. ; Gerdes, J. Christian
Author_Institution :
Dept. of Mech. Eng., Stanford Univ., CA, USA
Abstract :
This paper presents an effectively unbiased nonlinear estimation scheme which identifies tire longitudinal stiffness and effective radius using GPS and ABS wheelspeed sensors. This estimation strategy is then used to experimentally identify the longitudinal stiffness and effective radius of a summer tire and a winter tire under several different test conditions. The data clearly shows that there are several important parameters which govern tire longitudinal stiffness behavior in the low slip region. At a minimum, inflation pressure, tread depth, normal loading and temperature have a strong influence on longitudinal stiffness estimates; the change from dry to wet asphalt had the smallest effect on longitudinal stiffness estimates.
Keywords :
Global Positioning System; loading; nonlinear estimation; parameter estimation; road traffic; stability; tyres; vehicles; GPS; Global Positioning System; asphalt; driving conditions; inflation pressure; longitudinal stiffness estimate; longitudinal tire slip; nonlinear estimation; normal loading; summer tire; tread depth; winter tire; Force control; Force sensors; Friction; Global Positioning System; Lubrication; Mechanical engineering; Mechanical power transmission; Roads; Testing; Tires;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1242512