Modeling of the Evolution of the Brake Friction in Disc Brakes Based on a Novel Observer

the present work proposes a novel state observer of the brake linings' coefficient of friction (BLCF) based on vehicle longitudinal dynamics and wheel rotational dynamics without additional sensors. Kalman filter is adopted to polish the input signals of the observer such as the inertia measurement unit (IMU), vehicle speed, deceleration and brake pressure. The evolution of the BLCF is acquired and analyzed by vehicle test under different vehicle speed and brake pressure through the observer. A table-based model of the BLCF is proposed approximating the evolution of the BLCF as a linear function with time. Finally, this model is verified by vehicle test under regular driving conditions.