Dynamic friction model-based tire-road friction estimation and emergency braking control

Luis Alvarez, Jingang Yi, Roberto Horowitz, Luis Oimos

Research output: Contribution to journalArticlepeer-review

116 Scopus citations


An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.

Original languageEnglish (US)
Pages (from-to)22-32
Number of pages11
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number1
StatePublished - Mar 2005
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


  • Adaptive Control
  • Automotive Control
  • Nonlinear Observers


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