Page - XIX - in Maximum Tire-Road Friction Coefficient Estimation

Contents List of abbreviations ix List of symbols xi 1. Introduction 1 1.1. Significance of friction potential for traffic safety . . . . . . . . . . . . . . 1 1.2. Traffic safety measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3. Advanced driver assistance systems and vehicle dynamics controls . . . . 5 1.3.1. Significance of friction potential for ADAS and VDC . . . . . . . . 7 1.3.2. Requirements for an estimate of the friction potential for ADAS . 9 1.3.3. Requirements for an estimate of the friction potential for VDC . . 14 1.4. Thesis contribution and outline . . . . . . . . . . . . . . . . . . . . . . . . 14 2. Estimation of the friction potential 17 2.1. Definition of the friction potential . . . . . . . . . . . . . . . . . . . . . . 17 2.1.1. Rubber physics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.1.2. Friction potential of the rotating tire . . . . . . . . . . . . . . . . . 19 2.1.3. Overview of relevant influencing factors . . . . . . . . . . . . . . . 24 2.2. State of the art . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.2.1. Cause-based approaches . . . . . . . . . . . . . . . . . . . . . . . . 30 2.2.2. Effect-based approaches . . . . . . . . . . . . . . . . . . . . . . . . 31 2.2.3. Car-to-x communication systems (C2x) . . . . . . . . . . . . . . . 35 2.2.4. Sensorfusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 2.3. Requirements for a friction potential estimation method . . . . . . . . . . 36 3. Vehicle model 39 3.1. Assessment of required model accuracy . . . . . . . . . . . . . . . . . . . . 39 3.1.1. Evaluation criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.1.2. Investigated manoeuvres . . . . . . . . . . . . . . . . . . . . . . . . 42 3.1.3. Model parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 44