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Locked brakes and hydroplaning are the reasons which sometimes cause vehicle accidents in wet or icy road surface condition. Anti-lock Braking System (ABS) helps the driver to control decelerating vehicle and improves the control performance of a vehicle in critical conditions. Determining friction of the road surface is essential for developing vehicle control systems such as ABS. Hence, a proper model for modeling road-tire contacts is needed. In order to lessen costs, a minimum number of sensors have been used for determining road friction. In this paper, considering a dynamical model of road-tire contacts, a nonlinear observer has been designed for estimating the road-tire friction force in a vehicle, which only uses the measurement of wheel angular velocity. Finally, the proposed observer is evaluated by comparing its performance with that of the observer designed in a recent work.