Estimation and Change Detection of Tire -- Road Friction using Wheel Slip
1996 (English)In: Proceedings of the 1996 IEEE International Symposium on Computer-Aided Control System Design, 1996Conference paper (Refereed)
An estimation approach and a comparison of some change detection algorithms for surveillance of vehicle tire--road friction are presented. The over-all method is aimed to provide the driver with tire--road friction information during normal driving conditions, using only standard sensors. A Kalman filter is applied to a physical model of tire-road friction based on the so called wheel slip. To get a simultaneous accurate estimate and fast response to friction changes, different change detectors are examined and evaluated. From a real-time implementation in a Volvo 850 and extensive field tests, we conclude that a low complexity change detector, the CUSUM test, gives fast alarms after friction changes, while giving a very low false alarm rate.
Place, publisher, year, edition, pages
Automotive control, Friction, Kalman filter, Change detection, Surveillance, CUSUM test, Computer aided design
IdentifiersURN: urn:nbn:se:liu:diva-93778ISBN: 0780330323OAI: oai:DiVA.org:liu-93778DiVA: diva2:628848
1996 IEEE International Symposium on Computer-Aided Control System Design, Dearborn, MI, USA, September, 1996