Mechanical Engineering Commons^™

Road Surface Condition Detection And Identification And Vehicle Anti-Skid Control, Maosheng Ye

ETD Archive

Road surface condition is greatly dependent on the surface's friction coefficient. The abrupt change of the coefficient results in variation of wheel slip which likely leads to vehicle instability. Vehicle steering model and the dynamic equations for four-wheel drive vehicle is developed. A new observer, called Extended State Observer (ESO) is used to estimate the longitudinal velocity, lateral velocity and yaw rate, and more importantly an additional quantity known as system dynamics. A trained neural network was employed to help determine the friction coefficient. Fuzzy logic was employed to quickly detect the change of road surface condition and further classify …