Title: Evaluation of tyre to road friction estimators, test methods and metrics

Authors: F. Bruzelius, J. Svendenius, S. Yngve, G. Olsson, J. Casselgren, M. Andersson, J. Ronnberg, S. Lofving

Addresses: Department of Vehicle Technology and Simulation, Swedish National Road and Transport Research Institute, Box 8077, SE-402 78, Goteborg, Sweden. ' Haldex Brake Products, Instrumentgatan 15, Box 501, SE-261 24, Landskrona, Sweden. ' SAAB Automobile, Saabvagen 5 MALOG, SE-461 38, Trollhattan, Sweden. ' SAAB Automobile, Saabvagen 5 MALOG, SE-461 38, Trollhattan, Sweden. ' Volvo Technology Corporation, Gotaverksg. 10, SE-405 08, Goteborg, Sweden . ' Volvo Technology Corporation, Gotaverksg. 10, SE-405 08, Goteborg, Sweden. ' Volvo Cars Corporation, SE-405 31, Goteborg, Sweden. ' Optical Sensors, Stora Badhusgatan 18, SE-411 21 Gothenburg, Sweden

Abstract: The tyre to road contact friction is one of the most important properties when it comes to manoeuvrability of ground vehicles and information, to driver and vehicle, is of vital importance in critical situations. Different characteristics of different friction estimation methods make it hard to determine and compare performance of estimators. This article is an attempt to define and evaluate the performance of tyre to road friction estimators. The objective of the performance evaluation is to define and grade the performance of estimators based on all sorts of approaches and combinations of these. The result may be used in the context of benchmarking as well as a tool in the development process of the estimator. The test methods and metrics presented are illustrated with a comparative study of three different estimation approaches.

Keywords: tyre to road friction estimation; performance measures; test procedures; indirect estimation; direct estimation; contact friction; manoeuvrability; ground vehicles; benchmarking; vehicle systems testing.

DOI: 10.1504/IJVSMT.2010.037127

International Journal of Vehicle Systems Modelling and Testing, 2010 Vol.5 No.2/3, pp.213 - 236

Received: 11 Dec 2009
Accepted: 09 Mar 2010

Published online: 25 Nov 2010 *

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