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

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Surface condition</td><td class="align_center"><span style="width: 9.23472ptpx;"><svg height="9.14241pt" id="M29" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 9.23472 9.14241" width="9.23472pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.173,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g></svg></span></td><td class="align_center"><span style="width: 9.23472ptpx;"><svg height="9.14241pt" id="M30" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 9.23472 9.14241" width="9.23472pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.173,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg></span></td><td class="align_center"><span style="width: 9.23472ptpx;"><svg height="9.25202pt" id="M31" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 9.23472 9.25202" width="9.23472pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.173,3.132)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z" id="g50-52"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Dry asphalt</td><td class="align_center">1.2801</td><td class="align_center">23.99</td><td class="align_center">0.52</td></tr><tr><td class="align_left">Dry concrete</td><td class="align_center">1.1973</td><td class="align_center">25.16</td><td class="align_center">0.5373</td></tr><tr><td class="align_left">Wet asphalt</td><td class="align_center">0.857</td><td class="align_center">33.82</td><td class="align_center">0.347</td></tr><tr><td class="align_left">Snow</td><td class="align_center">1.946</td><td class="align_center">94.12</td><td class="align_center">0.0646</td></tr><tr><td class="align_left">Ice</td><td class="align_center">0.05</td><td class="align_center">306.3</td><td class="align_center">0</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Parameters of the tire model for various surfaces confirmed.

Mathematical Problems in Engineering

tab1

Table 1

Table 1: Slip Control of Electric Vehicle Based on Tire-Road Friction Coefficient Estimation 