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

Jingang Yi; Luis Alvarez; Xavier Claeys; Roberto Horowitz; Carlos Canudas De Wit

doi:10.1109/ACC.2001.945507

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

Jingang Yi
, Luis Alvarez
, Xavier Claeys
, Roberto Horowitz
, Carlos Canudas De Wit

Department of Mechanical Engineering
Universidad Nacional Autónoma de México
Centre national de la recherche scientifique

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

Abstract

A control scheme for emergency braking of vehicles is designed. The scheme utilizes a LuGre dynamic friction model to estimate the tire/road friction. The control system output is the pressure to the braking system, and is calculated using only the wheel angular speed information. The controller utilizes estimated state feedback control to achieve near maximum deceleration. The state observer gain is calculated by using linear matrix inequality (LMI) techniques. This system has two advantages when compared with an antilock braking system (ABS), it generates less chattering during braking and produces a source of a priori information regarding safe spacing.

Original language	English
Pages (from-to)	19-24
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	1
DOIs	https://doi.org/10.1109/ACC.2001.945507
Publication status	Published - 1 Jan 2001

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abstract = "A control scheme for emergency braking of vehicles is designed. The scheme utilizes a LuGre dynamic friction model to estimate the tire/road friction. The control system output is the pressure to the braking system, and is calculated using only the wheel angular speed information. The controller utilizes estimated state feedback control to achieve near maximum deceleration. The state observer gain is calculated by using linear matrix inequality (LMI) techniques. This system has two advantages when compared with an antilock braking system (ABS), it generates less chattering during braking and produces a source of a priori information regarding safe spacing.",

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AU - Canudas De Wit, Carlos

PY - 2001/1/1

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AB - A control scheme for emergency braking of vehicles is designed. The scheme utilizes a LuGre dynamic friction model to estimate the tire/road friction. The control system output is the pressure to the braking system, and is calculated using only the wheel angular speed information. The controller utilizes estimated state feedback control to achieve near maximum deceleration. The state observer gain is calculated by using linear matrix inequality (LMI) techniques. This system has two advantages when compared with an antilock braking system (ABS), it generates less chattering during braking and produces a source of a priori information regarding safe spacing.

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

Abstract

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