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%.
Issue Section:Technical Papers
Keywords:braking, friction, intelligent control, automated highways, velocity control, parameter estimation, road vehicles
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