• 한국자동차공학회논문집
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• 제24권5호
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• pp.512-519
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• 2016

In this study, the tire road friction estimation(TRFE) algorithm for controlling the rear wheel driving force of a 4WD vehicle during acceleration is developed using a standard sensor in an ordinary 4WD passenger car and a speed sensor. The algorithm is constructed for the wheel shaft torque, longitudinal tire force, vertical tire force and maximum tire road friction estimation. The estimation results of shaft torque and tire force were validated using a torque sensor and wheel force transducer. In the algorithm, the current road friction is defined as the proportion calculated between longitudinal and vertical tire force. Slip slop methods using current road friction and slip ratio are applied to estimate the road friction coefficient. Based on this study's results, the traction performance, fuel consumption and drive shaft strength performance of a 4WD vehicle are improved by applying the tire road friction estimation algorithm.

• 제어로봇시스템학회논문지
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• 제4권6호
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• pp.722-728
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• 1998

In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.

• 자동차안전학회지
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• 제5권2호
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• pp.17-23
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• 2013

This paper describes an algorithm for Advanced Emergency Braking(AEB) with tire-road friction coefficient estimation. The AEB is a system to avoid a collision or mitigate a collision impact by decelerating the car automatically when forward collision is imminent. Typical AEB system is operated by Time-to-collision(TTC), which considers only relative velocity and clearance from control vehicle to preceding vehicle. AEB operation by TTC has a limit that tire-road friction coefficient is not considered. In this paper, Tire-road friction coefficient is also considered to achieve more safe operation of AEB. Interacting Multiple Model method(IMM) is used for Tire-road friction coefficient estimation. The AEB algorithm consists of friction coefficient estimator and upper level controller and lower level controller. The numerical simulation has been conducted to demonstrate the control performance of the proposed AEB algorithm. The simulation study has been conducted with a closed-loop driver-controller-vehicle system using using MATLAB-Simulink software and CarSim Vehicle model.

• 대한기계학회논문집A
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• 제28권5호
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• pp.517-523
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• 2004

Recently, wheel slip controllers with controlling the wheel slip directly has been studied using the brake-by-wire actuator. The wheel slip controller is able to control the braking force more accurately and can be adapted to various different vehicles more easily than the conventional ABS systems. The wheel slip controller requires the information about the tire braking force and road condition in order to achieve the control performance. In this paper, the tire braking forces are estimated considering the variation of the friction between brake pad and disk due to aging of the brake, moisture on the contact area or heating. In addition, the road friction coefficient is estimated without using tire models. The estimated performance of tire braking forces and the road friction coefficient is evaluated in simulations.

• 한국도로학회논문집
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• 제15권4호
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• pp.31-42
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• 2013

PURPOSES : The purpose of this study is to eliminate the noise of the vehicle after measuring the friction noise obtained from the NCPX (Noble Close ProXimity) method. The pure friction noise between the tire and road pavement could be determined from filtering the compositeness of sound and the influence of the vehicle noise. METHODS: The noise magnitude could be determined by analyzing the sound pressure level (SPL) and sound power level (PWL) along with the noise frequency of a FFT (Fast Fourier Transform) analysis as well as CPB (Constant Percentage Bandwidth) analysis. RESULTS: When the test for measuring the friction noise originated somewhere between tire and road pavement is performed with NCPX method, it must be fulfilled by attaching the surface microphone near the tire. In this condition, the surface microphone can measure the friction noise occurred at between tire and pavement, the chassis noise from the engine and power transfer units, the fluctuating aerodynamic noise, and the turbulence noise directly affected to the surface microphone. By using the NCPX method, the noise occurred at the vehicle must be eliminated for measuring the friction noise between tire and pavement from the traffic noise. CONCLUSIONS: The vehicle's testing engine noise depends on the vehicle and road types. The effect of vehicle's engine noise is less than the friction noise occurred at between tire and pavement at less than 1% effect.

• 한국자동차공학회논문집
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• 제21권1호
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• pp.78-85
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• 2013

This paper presents the sliding mode control methods for anti-lock brake system (ABS) with the friction force observer. Using a simplified quarter car model, the sliding mode controller for ABS is designed to track the desired wheel slip ratio. Here, new method to find the desired wheel slip ratio which produces the maximum friction force between road and tire is suggested. The desired wheel slip ratio is varying according road and tire conditions to produce maximum friction force. In order to find optimum desired wheel slip ratio, the sliding mode observer for friction force is used. The proposed sliding mode controller with observer is evaluated in simulation, and the control design is shown to have high performance on roads with constant and varying adhesion coefficients.

• 한국자동차공학회논문집
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• 제24권3호
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• pp.310-318
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• 2016

The demands for vehicle safety systems such as ABS and ESC have been increased. Accurate vehicle state estimation is required to realized the abovementioned systems and tire-friction coefficient is crucial information. Estimation of lateral tire-road friction coefficient using pneumatic trail information is mainly dealt in this paper. Pneumatic trail shows unique characteristics according to the wheel side slip angle and these property is highly sensitive to vehicle lateral motion. The proposed algorithm minimizes the use of conventional tire models such as magic formula, brushed tire model and Dugoff tire model. The pure side slip maneuver, which means no longitudinal dynamics, is assumed to achieve the ultimate goal of this paper. A simulation verification using Carsim and Simulink is performed and the results show the feasibility of the proposed algorithms.

• Elastomers and Composites
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• 제56권2호
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• pp.85-91
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• 2021

In this study, different types and shapes of various particles produced on the asphalt pavement road were analyzed. Road dust at a bus stop was collected and was separated as per their sizes by using a sieve shaker. Tire-road wear particles (TRWPs), asphalt pavement wear particles (APWPs), mineral particles, plant-related particles, glass beads, glass particles, road paint wear particles, plastic particles, and fibers were observed herein. The types and shapes of the particles varied depending on their sizes. TRWPs larger than 500 ㎛ were not observed. TRWPs with a size of 212-500 ㎛ were rarely present, but many TRWPs with a size smaller than 212 ㎛ were observed. APWPs were observed for whole-particle sizes of below 1,000 ㎛. A variety of particles on the road would lead to lower friction between the tires and the road, thereby increasing the braking distance of vehicles. Most of the particles include mineral particles, glass particles, and APWPs with rough surfaces. Therefore, the abrasion of the tire tread would accelerate owing to friction with the tough particles.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 춘계학술대회 논문집
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• pp.462-465
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• 2014

It is well known that tire/road factors have a large influence on overall tire performance. In this paper, the basic study on the effects of tire/road factors on the pass-by noise performance of tire labeling has been carried out through experimental tests. The tire pass-by noise is affected by road characteristic factors, especially greatly influenced by road friction coefficient, and the next dominant factor is road chipping size. For several authorized pass-by noise test tracks, the pass-by noise correlation test has been done to know the test site effect, which results in 2~3dB(A) variation of pass-by noise level. Finally, it is shown that the winter tire is differently influenced by the pass-by noise test track characteristics, as compared to all-season tire and summer tire.

• Tribology and Lubricants
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• 제30권6호
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• pp.378-383
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• 2014

This study predicts the of the hysteretic friction of a rubber block sliding on an SMA asphalt road. The friction of filled rubber on a rough surface is primarily determined by two elements:the viscoelasticity of the rubber and the multi-scale perspective asperities of the road. The surface asperities of the substrate exert osillating forces on the rubber surface leading to energy dissipation via the internal friction of the rubber when rubber slides on a hard and rough substrate. This study defines the power spectra at different length scales by using a high-resolution surface profilometer, and uses rubber and road surface samples to conduct friction tests. I consider in detail the case when the substrate surface has a self affine fractal structure. The theory developed by Persson is applied to describe these tests through comparison with the hysteretic friction coefficient relevant to the energy dissipation of the viscoelastic rubber attributable to cyclic deformation. The results showed differences in the absolute values of predicted and measured friction, but with high correlation between these values. Hence, the friction prediction model is an appropriate tool for separating the effects of each factor. Therefore, this model will contribute to clearer understanding of the fundamental principles of rubber friction.