Design of tyre force excitation for tyre–road friction estimation
Artikel i vetenskaplig tidskrift, 2017

Knowledge of the current tyre–road friction coefficient is essential for future autonomous vehicles. The environmental conditions, and the tyre–road friction in particular, determine both the braking distance and the maximum cornering velocity and thus set the boundaries for the vehicle. Tyre–road friction is difficult to estimate during normal driving due to low levels of tyre force excitation. This problem can be solved by using active tyre force excitation. A torque is added to one or several wheels in the purpose of estimating the tyre–road friction coefficient. Active tyre force excitation provides the opportunity to design the tyre force excitation freely. This study investigates how the tyre force should be applied to minimise the error of the tyre–road friction estimate. The performance of different excitation strategies was found to be dependent on both tyre model choice and noise level. Furthermore, the advantage with using tyre models with more parameters decreased when noise was added to the force and slip ratio.


state estimation

vehicle dynamics

active tyre force excitation

Tyre–road friction estimation


Anton Albinsson

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Fredrik Bruzelius

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Bengt J H Jacobson

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Jonas Fredriksson

Chalmers, Signaler och system, System- och reglerteknik

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 55 2 208-230


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