Friction estimation on highway vehicles using longitudinal measurements

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146 Scopus citations


This paper develops a real-time tire-road friction coefficient measurement system that can reliably distinguish between different road surface friction levels and quickly detect abrupt changes in friction coefficient. The measurement system relies on the use of differential GPS and utilizes a nonlinear longitudinal tire force model. Compared to previously published results in literature, the advantage of the system developed in this paper is that it is applicable during both vehicle acceleration and braking and works reliably for a wide range of slip ratios, including high slip conditions. The system can be utilized on front/rear-wheel drive as well as all-wheel drive vehicles. Extensive results are presented from experimental results conducted on various surfaces with a winter maintenance vehicle called the "SAFEPLOW." The experimental results show that the system performs reliably and quickly in estimating friction coefficient on different road surfaces during various vehicle maneuvers. The developed friction measurement system has many applications in vehicle safety systems such as ABS, skid control and collision avoidance systems and is also useful for winter maintenance vehicles in which knowledge of the friction coefficient can be used to determine the amount and type of deicing chemicals to be applied to a winter roadway.

Original languageEnglish (US)
Pages (from-to)265-275
Number of pages11
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number2
StatePublished - Jun 1 2004


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