Dynamic Tire Friction Models for Vehicle Traction/Braking Control

Carlos Canudas de Wit (1) , Panagiotis Tsiotras (2) , Efstathios Velenis (2) , Michel Basset (3) , Gérard Gissinger (3)

1 LAG - Laboratoire d'automatique de Grenoble
2 GA TECH - Daniel Guggenheim School of Aerospace Engineering
3 MIPS - Modélisation, Intelligence, Processus et Système

In this paper we derive a dynamic friction force for road/tire interaction for wheeled ground vehicles. The model is based on a similar dynamic friction model for contact developed previously for contact-point friction problems, called the LuGre model. We show that the dynamic LuGre friction model is able to accurately capture velocity and rod/surface dependence of the tire friction force. A comparison between the friction forces predicted by our model and experimental data is also provided.

Domaines: Automatique / Robotique

Carlos Canudas de Wit, Panagiotis Tsiotras, Efstathios Velenis, Michel Basset, Gérard Gissinger. Dynamic Tire Friction Models for Vehicle Traction/Braking Control. Vehicle System Dynamics, 2003, 39 (3), pp.189-226. ⟨10.1076/vesd.39.3.189.14152⟩. ⟨hal-00949740⟩