TY - GEN
T1 - Algorithms for real-time estimation of individual wheel tire-road friction coefficients
AU - Rajamani, Rajesh
AU - Piyabongkarn, Damrongrit
AU - Lew, Jae Y.
AU - Grogg, John A.
PY - 2006/12/1
Y1 - 2006/12/1
N2 - It has long been recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on estimation of average friction coefficient for the vehicle or on average friction coefficient for both drive wheels of the vehicle. This paper explores the development of algorithms for reliable estimation of friction coefficient at each individual wheel of the vehicle. Three different algorithms are proposed based on the types of sensors available -one that utilizes engine torque, brake torque and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. These algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate that friction coefficients at the individual wheels and road gradient can both be estimated reliably. Individual wheel friction measurements are expected to be more valuable for active safety systems than average friction measurements.
AB - It has long been recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on estimation of average friction coefficient for the vehicle or on average friction coefficient for both drive wheels of the vehicle. This paper explores the development of algorithms for reliable estimation of friction coefficient at each individual wheel of the vehicle. Three different algorithms are proposed based on the types of sensors available -one that utilizes engine torque, brake torque and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. These algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate that friction coefficients at the individual wheels and road gradient can both be estimated reliably. Individual wheel friction measurements are expected to be more valuable for active safety systems than average friction measurements.
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M3 - Conference contribution
AN - SCOPUS:34047209755
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 4682
EP - 4687
BT - Proceedings of the 2006 American Control Conference
T2 - 2006 American Control Conference
Y2 - 14 June 2006 through 16 June 2006
ER -