Vehicle-longitudinal-motion-independent real-time tire-road friction coefficient estimation

Yan Chen, Junmin Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations


Tire-road friction coefficient information is of critical importance for vehicle dynamic control such as yaw stability control, trajectory tracking control, and rollover prevention for both manned and unmanned applications. Existing tire-road friction coefficient estimation approaches often require certain levels of vehicle longitudinal and/or lateral motion excitations (e.g. accelerating, decelerating, and steering) to satisfy the persistence of excitation condition for reliable estimations. Such excitations may undesirably interfere with vehicle motion controls. By utilizing the actuation redundancy, this paper presents a novel, real-time, tire-road friction coefficient estimation method that is independent of vehicle longitudinal motion for ground vehicles with separable control of front and rear wheels. A dynamic LuGre tire model is utilized in this study. An observer is proposed to estimate the internal state in a LuGre tire model. An adaptive control law with a parameter projection mechanism is designed to track the desired vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and an actively-injected persistently exciting input signal. An RLS estimator was employed to estimate the tire-road friction coefficient in real-time. Simulation results based on a full-vehicle CarSim® model show that the system can reliably estimate the tire-road friction coefficient independent of vehicle longitudinal motion.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781424477456
StatePublished - 2010
Externally publishedYes
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


Dive into the research topics of 'Vehicle-longitudinal-motion-independent real-time tire-road friction coefficient estimation'. Together they form a unique fingerprint.

Cite this