Abstract
A novel nonlinear observer for the estimation of vehicle velocity together with the tire-road friction coefficient is presented in this paper. The modular observer is designed based on a longitudinal tire force estimation approach and a lateral tire friction model. Compared to the state-of-art methods, the proposed observer design provides accurate estimation of the longitudinal velocity, lateral velocity, and the tire-road friction coefficient simultaneously. Particularly, the longitudinal tire forces are first estimated based on a filter observer. Then, according to the calculation of lateral tire forces, the nonlinear observer is proposed to estimate vehicle velocity and the tire-road friction coefficient. Moreover, the stability property of the observer is analyzed using a Lyapunov-based method. Simulation results validate the effectiveness of the proposed method.
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