Algorithms for real-time estimation of individual wheel tire-road friction coefficients

Rajesh Rajamani, Damrongrit Piyabongkarn, Jae Y. Lew, John A. Grogg

Research output: Chapter in Book/Report/Conference proceedingConference contribution

61 Scopus citations


It has long been recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on estimation of average friction coefficient for the vehicle or on average friction coefficient for both drive wheels of the vehicle. This paper explores the development of algorithms for reliable estimation of friction coefficient at each individual wheel of the vehicle. Three different algorithms are proposed based on the types of sensors available -one that utilizes engine torque, brake torque and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. These algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate that friction coefficients at the individual wheels and road gradient can both be estimated reliably. Individual wheel friction measurements are expected to be more valuable for active safety systems than average friction measurements.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424402107, 9781424402106
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN


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