Slip-based tire road friction estimation

An approach to estimate the tire-road friction during normal drive using only the wheel slip, that is, the relative difference in wheel velocities, is presented. The driver can be informed about the maximum friction force and be alarmed for sudden changes. Friction-related parameters are estimated using only signals from standard sensors in a modern car. An adaptive estimator is presented for a model linear in parameters, which is designed to work for periods of poor excitation. errors in variables, simultaneous slow and fast parameter drifts and abrupt changes. The physical relation between these parameters and the maximal friction force is determined from extensive field trials using a Volvo 850 GLT as a test car. (C) 1997 Elsevier Science Ltd.