Estimating the Tire-Road Friction Coefficient Based on Tire Force Measurements

摘要: Electronic stability control (ESC) has been shown to reduce the accident rate in a number of situations. Therefore, it is important keep improving ESC and other systems. One way do this by available information on state vehicle its environment. The tire-road friction coefficient µ particularly important, as limits maximum possible tire forces. Literature shows that systems like ESC, ABS, torque vectoring adaptive cruise all benefit from knowledge µ. In study, new estimation method proposed estimate µ, using works non-linear region for combined slip conditions. For each tire, estimated an extended Kalman filter, together with magic formula model. algorithm then selects lowest uncertainty. developed Matlab, evaluated CarSim model under braking, steady-state cornering double lane change. results show estimator promising first step. It succeeds when tires are at their limit, but less successful lower levels. An explanation effect slip-slope not present CarSim. real world, relationship exists between slip-slope, so potential work levels slip. next step evaluate vehicle.