Analysis shows that tire-road friction estimation improves TLC calculations for lane departure warning systems, suggesting better vehicle control.
The real-time estimation problem of the tire-road friction coefficient is studied in this paper, with special emphasis on its effect on the time-to-lane crossing (TLC) calculations for a lane departure warning system currently developed at the University of Michigan. The estimation method proposed is based on the single-wheel dynamics and an anisotropic brush tire model. Two different estimation techniques: extended non-linear adaptive observer method and least square method are constructed to estimate the parameter for this nonlinear function. The update law of the extended nonlinear adaptive observer method is constructed by considering the effect of parameter dependence. If the correlation between the parameters is considered in the development of the update law, the convergence of the parameters can be greatly improved. The proposed methods are evaluated on a 14 DOF full-vehicle simulation model with a combined-slip magic-formula tire model. The effect of the proposed friction estimation method on vehicle lateral trajectory prediction is presented.
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Liu et al. (1995) studied this question.
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