Abstract
SUMMARY This paper describes a method for estimating wheel slip that has proven to be effective. The method requires a longitudinal accelerometer and wheel speed sensors, although it can be enhanced by other measurements such as yaw rate and lateral acceleration. The method determines a reference speed which is closely associated with the vehicle speed, but may different. This reference speed is then used to calculate reference wheel slips which are closely associated with the actual wheel slips, but may be different. The use of reference vehicle speed and reference wheel slips allows for compensation of errors due to inaccurate estimates of tire traction properties. The actual tire forces that are generated by the controller using the reference quantities are very close to the forces the controller expects, hence, the vehicle responds as the controller expects Further, if the assumed tire traction properties are close to correct, then the reference vehicle speed and reference wheel slips become close to ...
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