Estimation of road pavement adhesion factor based on virtual experiment

The longitudinal forces of the vehicle tire were estimated by the sliding-mode observer combined with the Kalman filter.Based on this the adhesion factor of the road parement was estimated by the recursive least square algorithm with forgetting factor and the change detection algorithm CUSUM.A test environment for the road with different adhesion factors was constructed using the compiler Road Builder in ADAMS/Car,and the proposed road adhesion factor estimation method was tested in the constructed virtual environment.The results proved the reliability and effectiveness of the proposed method and illustrated the theory of slip-slope can reappear in the virtual experiment based on the ADAMSj/Car.