Abstract
With increasing automation of driving tasks, reliable information on the road con-
ditions is required to ensure safe automated transport. A method is presented to determine the
maximum coefficient of friction between tire and road surface during driving based on measure-
ments of the vehicle’s dynamic state using a model-based approach. Particle filtering is applied as
a state estimation technique which is able to consider measurement noise and model uncertainties
within a Bayesian framework. Almost only standard sensors as installed in a vehicle with elec-
tronic stability control (ESC) are used. The sensor information required includes wheel speeds,
longitudinal and lateral chassis acceleration, the yaw rate, the steering wheel angle and the lon-
gitudinal velocity. Using real vehicle measurements, possibilities and limitations of the presented
approach are discussed. It is demonstrated that the tire and road conditions can be estimated in
many driving conditions with a high confidence.
ditions is required to ensure safe automated transport. A method is presented to determine the
maximum coefficient of friction between tire and road surface during driving based on measure-
ments of the vehicle’s dynamic state using a model-based approach. Particle filtering is applied as
a state estimation technique which is able to consider measurement noise and model uncertainties
within a Bayesian framework. Almost only standard sensors as installed in a vehicle with elec-
tronic stability control (ESC) are used. The sensor information required includes wheel speeds,
longitudinal and lateral chassis acceleration, the yaw rate, the steering wheel angle and the lon-
gitudinal velocity. Using real vehicle measurements, possibilities and limitations of the presented
approach are discussed. It is demonstrated that the tire and road conditions can be estimated in
many driving conditions with a high confidence.
Originalsprache | englisch |
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Titel | The Dynamics of Vehicles on Roads and Tracks |
Untertitel | proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015) |
Erscheinungsort | Boca Raton u.a. |
Herausgeber (Verlag) | CRC Press |
Seiten | 731-738 |
Band | 1 |
ISBN (Print) | 978-1-138-02885-2 |
Publikationsstatus | Angenommen/In Druck - 2015 |
Veranstaltung | 24th International Symposium on Dynamics of Vehicles on Roads and Tracks: IAVSD 2015 - Graz, Österreich Dauer: 17 Aug. 2015 → 21 Aug. 2015 |
Konferenz
Konferenz | 24th International Symposium on Dynamics of Vehicles on Roads and Tracks |
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Kurztitel | IAVSD Symposium 2015 |
Land/Gebiet | Österreich |
Ort | Graz |
Zeitraum | 17/08/15 → 21/08/15 |
Fields of Expertise
- Mobility & Production
Treatment code (Nähere Zuordnung)
- Application