Tire friction potential estimation from measured tie rod forces

Intelligent vehicles require more accurate knowledge of tire-road friction conditions in order to utilize the full potential of each tire. Continuous and reliable friction potential estimation would have a very positive traffic safety impact, because, e.g., adaptive cruise control could adjust to an adequate safety distance and a collision mitigation system could expedite intervention in slippery conditions. This paper presents how tire friction potential can be determined from individually measured tie rod forces. The method is independent of tire tread stiffness, tire slip angle, or cornering stiffness. In addition, left- and right-hand-side front tire friction potentials can be estimated separately, which would be very beneficial in μ-split conditions.