Friction coefficient measurement for autonomous winter road maintenance

Gurkan Erdogan, Lee Alexander, Rajesh Rajamani

Research output: Contribution to journalArticlepeer-review

26 Scopus citations


Real-time measurement of tyre-road friction coefficient is extremely valuable for winter road maintenance operations, since knowledge of tyre-road friction coefficient can be used to optimise application of deicing chemicals to the roadway. In this paper, a wheel-based tyre-road friction coefficient measurement system is developed for snowploughs. Unlike a traditional Norse meter, this system is based on measurement of lateral tyre forces, has minimal moving parts and does not use a brake actuator. Hence, it is reliable and inexpensive. A key challenge is quickly detecting changes in the estimated tyre-road friction coefficient while rejecting the high levels of vibratory noise in the measured force signal. Novel filtering and signal processing algorithms are developed to address this challenge, including a biased quadratic mean filter and an accelerometer-based vibration removal filter. Detailed experimental results are presented on the performance of the friction estimation system on different types of road surfaces. It is also shown that disturbances due to lateral and longitudinal vehicle manoeuvres on the estimated friction coefficient can be removed by using accelerometer-based filtering.

Original languageEnglish (US)
Pages (from-to)497-512
Number of pages16
JournalVehicle System Dynamics
Issue number4
StatePublished - Apr 2009

Bibliographical note

Funding Information:
This work was supported by the Minnesota Department of Transportation (MNDoT). The authors also wish to thank MNDoT for providing the snowplough and other resources for this project.

Copyright 2009 Elsevier B.V., All rights reserved.


  • Filters
  • Friction
  • Quadratic mean filter
  • Signal processing


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