Emergency braking control with an observer-based dynamic tire/road friction model and wheel angular velocity measurement

Jingang Yi, Luis Alvarez, Xavier Claeys, Roberto Horowitz

Research output: Contribution to journalArticle

83 Citations (Scopus)

Abstract

A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LMI) techniques. The analysis shows that using the wheel angular speed information exclusively is not sufficient to rapidly estimate the velocity and relative velocity, due to the fact that the dynamical system is almost unobservable with this measurement as output. Findings are confirmed by simulation results that show that the estimated vehicle velocity and relative velocity converge slowly to their true values, even though the internal friction state and friction parameters converge quickly. The proposed control system has two main advantages when compared with an antilock braking system (ABS): (1) it produces a source of a priori information regarding safe spacing between vehicles that can be used to increase safety levels in the highway; and (2) it achieves a near optimal braking strategy with less chattering.

Original languageEnglish (US)
Pages (from-to)81-97
Number of pages17
JournalVehicle System Dynamics
Volume39
Issue number2 SPEC.
DOIs
StatePublished - Feb 1 2003
Externally publishedYes

Fingerprint

Angular velocity
Angle measurement
Braking
Tires
Velocity measurement
Wheels
Friction
Anti-lock braking systems
Control systems
Internal friction
Deceleration
Linear matrix inequalities
Brakes
Feedback control
Dynamical systems
Controllers

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Safety, Risk, Reliability and Quality
  • Automotive Engineering

Cite this

Yi, Jingang ; Alvarez, Luis ; Claeys, Xavier ; Horowitz, Roberto. / Emergency braking control with an observer-based dynamic tire/road friction model and wheel angular velocity measurement. In: Vehicle System Dynamics. 2003 ; Vol. 39, No. 2 SPEC. pp. 81-97.
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Emergency braking control with an observer-based dynamic tire/road friction model and wheel angular velocity measurement. / Yi, Jingang; Alvarez, Luis; Claeys, Xavier; Horowitz, Roberto.

In: Vehicle System Dynamics, Vol. 39, No. 2 SPEC., 01.02.2003, p. 81-97.

Research output: Contribution to journalArticle

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