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.
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June 2004
Technical Papers
Friction Estimation on Highway Vehicles Using Longitudinal Measurements
Junmin Wang,
Junmin Wang
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
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Lee Alexander,
Lee Alexander
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
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Rajesh Rajamani
Rajesh Rajamani
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
Search for other works by this author on:
Junmin Wang
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
Lee Alexander
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
Rajesh Rajamani
Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division June 30, 2003; final revision, November 24, 2003. Associate Editor: R. Gao.
J. Dyn. Sys., Meas., Control. Jun 2004, 126(2): 265-275 (11 pages)
Published Online: August 5, 2004
Article history
Received:
June 30, 2003
Revised:
November 24, 2003
Online:
August 5, 2004
Citation
Wang , J., Alexander , L., and Rajamani, R. (August 5, 2004). "Friction Estimation on Highway Vehicles Using Longitudinal Measurements ." ASME. J. Dyn. Sys., Meas., Control. June 2004; 126(2): 265–275. https://doi.org/10.1115/1.1766028
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