Design of a Slip Observer and Road Adhesion Coefficient Estimator for Road Vehicles

Abstract

Control systems that help the driver avoid accidents, or limit the damage in case of an accident, have become ubiquitous in modern passenger cars. For example, new cars typically have an anti-lock braking system (ABS), which prevents the wheels from locking during hard braking, and they often have an electronic stability control system (ESC), which stabilizes the lateral motion of the vehicle to prevent skidding. Collision warning and avoidance, rollover prevention, crosswind stabilization, and preparation for an impending accident by adjusting seat positions and seat belts are additional examples of control systems for automotive safety.