Friction Estimation on Highway Vehicles Using Longitudinal Measurements

[+] Author and Article Information
Junmin Wang, Lee Alexander, Rajesh Rajamani

Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455

J. Dyn. Sys., Meas., Control 126(2), 265-275 (Aug 05, 2004) (11 pages) doi:10.1115/1.1766028 History: Received June 30, 2003; Revised November 24, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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Vehicle longitudinal dynamics schematic diagram
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Longitudinal force vs. slip computed using Magic Formula model
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Chassis tire configuration example
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Slip-slope estimation using ordinary RLS with λ=0.995
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Slip-slope estimation using ordinary RLS with λ=0.9
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Slip-slope estimation with gain switching and λ=0.995
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Using peak filter to deal with signal peaks
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Experimental results for accelerometer bias and acceleration estimation
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The SAFEPLOW used for the experiments
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Acceleration starting at 20 mph on dry concrete surface
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Slip-slope estimation during acceleration and braking
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The road surface used to conduct the experiments for this section
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Acceleration starting at 20 mph on surface with light snow covering
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Acceleration and braking on surface with light snow covering
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The track used to conduct the experiments for this section
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System response when accelerating through the transitional part
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System response when braking through the transitional part
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Testing result for hard braking




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