Adhesion state estimation based on improved tire brush model

Bei Shaoyi,Li Bo,Zhu Yanyan

doi:10.1177/1687814017747706

Abstract

On the basis of calculating the longitudinal force using the original brush model, we simplify the tire structure and consider the lateral force generated by the lateral elasticity of the tread. At the same time, the boundary conditions between the adhesion area and the slip zone in the contact area of the tire are fully discussed. By establishing an improved tire brush model, the error caused by neglecting the sideslip characteristics is avoided, and the adaptability of the tire model is improved. A double nonlinear compensation method based on the lateral acceleration deviation and the yaw rate deviation is employed to estimate the road adhesion coefficient, which is closer to the actual attachment situation than the standard calculation. Based on this model, the vehicle stability coefficient k is defined and calculated to describe the stability of the vehicle during the driving process. The modeling results show that the value of k is always in the stable range of [0, 1]. Therefore, the vehicle that utilizes the improved tire brush model is always within the controllable range in the driving process, which verifies the effectiveness of the model.

Highlights

The most important part of the vehicle in contact with the road is the tire
The empirical model is based on existing tire test data, which is manipulated through interpolation or the function-fitting method to create a formula that can predict a tire’s characteristics, such as the power index unified tire model,2,3‘‘magic formula’’ tire model,[4,5] SWIFT tire model, and Dugoff tire model
We simplify the structure of the tire and deduce formulas for the tire’s longitudinal and lateral forces according to the deformation of the tread unit

Summary

Introduction

The most important part of the vehicle in contact with the road is the tire. Through the tire, a vehicle can control the vertical, longitudinal and horizontal forces it experiences.[1]. Keywords Tire, brush model, double nonlinear compensation, vehicle stability factor The method chosen to estimate the road adhesion coefficient in this article is a double nonlinear compensation based on both the lateral acceleration deviation and the yaw rate deviation.

Results

Conclusion