Modeling and estimation of tire-road friction forces are of importance in advanced vehicle control. Since most of the vehicle control systems have tire-road friction forces in the algorithms, thus a better knowledge of these forces will benefit in control performances significantly. However, tire-road friction forces are hard or costly to measure directly. This work proposes the method to estimate them via model-based approach. It uses the easier available measured signals together with knowledge of vehicle dynamics and Kalman filtering as an estimator to obtain tire-road friction forces. The method shows good results in both simulation and validation with field-test data.    «

Modeling and estimation of tire-road friction forces are of importance in advanced vehicle control. Since most of the vehicle control systems have tire-road friction forces in the algorithms, thus a better knowledge of these forces will benefit in control performances significantly. However, tire-road friction forces are hard or costly to measure directly. This work proposes the method to estimate them via model-based approach. It uses the easier available measured signals together with knowledg...    »