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Mathematical Problems in Engineering
Volume 2017, Article ID 3035124, 8 pages
Research Article

Slip Control of Electric Vehicle Based on Tire-Road Friction Coefficient Estimation

1School of Mechatronics Engineering, Changchun University of Technology, Changchun 130012, China
2Faculty of Engineering, Saitama Institute of Technology, Fukaya 369-0293, Japan

Correspondence should be addressed to Shaosong Li; nc.ude.tucc@gnosoahsil

Received 24 May 2017; Revised 7 August 2017; Accepted 6 September 2017; Published 7 November 2017

Academic Editor: Filippo Cacace

Copyright © 2017 Gaojian Cui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The real-time change of tire-road friction coefficient is one of the important factors that influence vehicle safety performance. Besides, the vehicle wheels’ locking up has become an important issue. In order to solve these problems, this paper comes up with a novel slip control of electric vehicle (EV) based on tire-road friction coefficient estimation. First and foremost, a novel method is proposed to estimate the tire-road friction coefficient, and then the reference slip ratio is determined based on the estimation results. Finally, with the reference slip ratio, a slip control based on model predictive control (MPC) is designed to prevent the vehicle wheels from locking up. In this regard, the proposed controller guarantees the optimal braking torque on each wheel by individually controlling the slip ratio of each tire within the stable zone. Theoretical analyses and simulation show that the proposed controller is effective for better braking performance.