A dynamic tire/road friction model for 3D vehicle control and simulation

ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585) Pub Date : 2001-08-25 DOI:10.1109/ITSC.2001.948705

X. Claeys, J. Yi, L. Alvarez, R. Horowitz, C. de Wit

引用次数: 25

Abstract

A tire/road friction model based on the LuGre dry friction model and on tire dynamics is presented. The dynamics of the longitudinal and lateral forces, and the self-aligning torque are described by a set of first order differential equations. This model is suitable for 3D vehicle traction/braking simulation and control. A comparison of the forces and torque produced by this dynamic model with the well known "magic formula" is presented.

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用于车辆三维控制与仿真的动态轮胎/路面摩擦模型

提出了一种基于LuGre干摩擦模型和轮胎动力学的轮胎路面摩擦模型。纵向力、横向力和自对准力矩的动力学用一阶微分方程来描述。该模型适用于三维车辆牵引/制动仿真与控制。将该动力学模型所产生的力和扭矩与著名的“神奇公式”进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)

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