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Slip-Based Estimation of Tire-Road Friction
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
1997 (English)In: Automatica, ISSN 0005-1098, Vol. 33, no 6, 1087-1099 p.Article in journal (Refereed) Published
Abstract [en]

An approach to estimate the tire-road friction during normal drive using only the wheel slip, that is, the relative difference in wheel velocities, is presented. The driver can be informed about the maximum friction force and be alarmed for sudden changes. Friction-related parameters are estimated using only signals from standard sensors in a modern car. An adaptive estimator is presented for a model linear in parameters, which is designed to work for periods of poor excitation, errors in variables, simultaneous slow and fast parameter drifts and abrupt changes. The physical relation between these parameters and the maximal friction force is determined from extensive field trials using a Volvo 850 GLT as a test car.

Place, publisher, year, edition, pages
Elsevier, 1997. Vol. 33, no 6, 1087-1099 p.
Keyword [en]
Automotive control, Adaptive filters, Fault detection, Classification, Kalman filters
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-56363DOI: 10.1016/S0005-1098(97)00003-4OAI: diva2:318583
Available from: 2010-05-08 Created: 2010-05-07 Last updated: 2013-07-30

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Gustafsson, Fredrik
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Automatic ControlThe Institute of Technology
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