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.
Original language | English |
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Title of host publication | The Dynamics of Vehicles on Roads and Tracks |
Subtitle of host publication | proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015) |
Place of Publication | Boca Raton u.a. |
Publisher | CRC Press |
Pages | 731-738 |
Volume | 1 |
ISBN (Print) | 978-1-138-02885-2 |
Publication status | Accepted/In press - 2015 |
Event | 24th International Symposium on Dynamics of Vehicles on Roads and Tracks: IAVSD 2015 - Graz, Austria Duration: 17 Aug 2015 → 21 Aug 2015 |
Conference
Conference | 24th International Symposium on Dynamics of Vehicles on Roads and Tracks |
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Abbreviated title | IAVSD Symposium 2015 |
Country/Territory | Austria |
City | Graz |
Period | 17/08/15 → 21/08/15 |
Fields of Expertise
- Mobility & Production
Treatment code (Nähere Zuordnung)
- Application