We develop and test a “slip-based” method to estimate the maximum available tire-road friction during braking. The method is based on the hypothesis that the low-slip, low-μ parts of the slip curve used during normal driving can indicate the maximum tire-road friction coefficient, We find support for this hypothesis in the literature and through experiments. The friction estimation algorithm uses data from short braking maneuvers with peak accelerations of 3.9 m/s2 to classify the road surface as either dry or lubricated Significant measurement noise makes it difficult to detect the subtle effect being measured, leading to a misclassification rate of 20%.
Estimation of the Maximum Tire-Road Friction Coefficient
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division Jan. 16, 2002; final revision June 30, 2003. Associate Editor: Alleyne.
Mu¨ller, S., Uchanski, M., and Hedrick, K. (January 29, 2004). "Estimation of the Maximum Tire-Road Friction Coefficient ." ASME. J. Dyn. Sys., Meas., Control. December 2003; 125(4): 607–617. https://doi.org/10.1115/1.1636773
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