Estimation of tire-road friction coefficient using a novel wireless piezoelectric tire sensor

Gurkan Erdogan, Lee Alexander, Rajesh Rajamani

Research output: Contribution to journalArticlepeer-review

118 Scopus citations


A tire-road friction coefficient estimation approach is proposed which makes use of the uncoupled lateral deflection profile of the tire carcass measured from inside the tire through the entire contact patch. The unique design of the developed wireless piezoelectric sensor enables the decoupling of the lateral carcass deformations from the radial and tangential deformations. The estimation of the tire-road friction coefficient depends on the estimation of slip angle, lateral tire force, aligning moment, and the use of a brush model. The tire slip angle is estimated as the slope of the lateral deflection curve at the leading edge of the contact patch. The portion of the deflection profile measured in the contact patch is assumed to be a superposition of three types of lateral carcass deformations, namely, shift, yaw, and bend. The force and moment acting on the tire are obtained by using the coefficients of a parabolic function which approximates the deflection profile inside the contact patch and whose terms represent each type of deformation. The estimated force, moment, and slip angle variables are then plugged into the brush model to estimate the tire-road friction coefficient. A specially constructed tire test rig is used to experimentally evaluate the performance of the developed estimation approach and the tire sensor. Experimental results show that the developed sensor can provide good estimation of both slip angle and tire-road friction coefficient.

Original languageEnglish (US)
Article number5579971
Pages (from-to)267-279
Number of pages13
JournalIEEE Sensors Journal
Issue number2
StatePublished - 2011

Bibliographical note

Funding Information:
Manuscript received May 03, 2010; revised May 25, 2010; accepted May 26, 2010. Date of publication September 20, 2010; date of current version November 17, 2010. This work was supported in part by the Minnesota Department of Transportation. The associate editor coordinating the review of this manuscript and approving it for publication was Prof. Evgeny Katz.


  • Slip angle
  • tire sensor
  • tire-road friction coefficient
  • wireless piezoelectric sensor
  • wireless tire sensor


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