Title :
Estimation and change detection of tire-road friction using the wheel slip
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
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;
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
DOI :
10.1109/CACSD.1996.555237
