Estimation and change detection of tire-road friction using the wheel slip

Author

Gustafsson, F.

Author_Institution

Dept. of Electr. Eng., Linkoping Univ., Sweden

fYear

1996

Firstpage

99

Lastpage

104

Abstract

This paper describes some filtering and change detection problems in an approach to estimate the tire-road friction. The method is aimed to work during a normal drive using information from standard sensors only, and the driver is informed about the maximal friction force and warned for sudden changes. From a physical model of tire-road friction based on the so called wheel slip, a Kalman filter is constructed. To get a fast response to friction changes, some alternative change detectors are examined. We also describe the algorithm that has been implemented in real-time on a Volvo 850 and some of the results from extensive tests

Keywords

Kalman filters; automobiles; friction; parameter estimation; real-time systems; sliding friction; testing; CUSUM test; Kalman filter; Volvo 850; automobile; change detection; filtering; model; parameter estimation; real-time system; tire-road friction; wheel slip; Change detection algorithms; Filtering; Friction; Intelligent sensors; Intelligent vehicles; Road safety; Road vehicles; Testing; Tires; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer-Aided Control System Design, 1996., Proceedings of the 1996 IEEE International Symposium on

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-3032-3

Type

conf

DOI

10.1109/CACSD.1996.555237

Filename

555237