Friction Detection from Stationary Steering Maneuvers
The friction coefficient between the tires of a vehicle and the roadway is one of the most critical parameters governing a vehicle's motion. However, most techniques for identifying road friction from vehicle motion require the operation of the vehicle in highly dynamic maneuvers that utilize a significant portion of the tire grip capacity. Thus, the excitation of dynamics sufficient to provide a reasonable estimate of the friction coefficient could also destabilize the vehicle. This paper presents an alternative approach to friction estimation wherein stationary steering maneuvers, such as those performed while exiting a parking space or at an intersection, may be used to identify the tire-road friction characteristics prior to higher speed operation. The paper describes a model and results from using a stationary steering process to identify friction. The approach is validated with experimental data from a steer-by-wire test vehicle to illustrate the efficacy of the technique.
This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 2019-07-24, available online: https://www.tandfonline.com/10.1080/00423114.2019.1645862.
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Work Title | Friction Detection from Stationary Steering Maneuvers |
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License | CC BY-NC 4.0 (Attribution-NonCommercial) |
Work Type | Article |
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Publication Date | July 24, 2019 |
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Deposited | January 18, 2024 |
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