Accuracy requirements for the road friction coefficient estimation of a friction-adaptive automatic emergency steer assist (ESA)

Abstract

The number of traffic accidents resulting in personal injury and property damage is increasingly being reduced by effective advanced driver assistance systems (ADAS). Nevertheless, many traffic accidents still cannot be prevented today because they are due to wet, snow- and ice-covered roads. For this reason, the Institute of Automotive Engineering (IAE) of the Technical University of Braunschweig is investigating the road friction coefficient sensitivity and adaptation of advanced driver assistance systems (ADAS) currently in series production from 2018 to 2021 as part of the ‘Road Condition Cloud’ research project funded by the German Research Foundation (DFG) to increase driving safety, particularly on wet, snow- and ice-covered roads. In this article, the road friction coefficient sensitivity and adaptation of an automatic emergency steer assist is simulatively investigated. This assist overrides the driver to automatically execute an evasive maneuver. The driving maneuver used is a standardized obstacle-avoidance maneuver that is simulatively repeated on a dry, wet, snow- and ice-covered road. The road friction coefficient sensitivity shows that this test is already failed on a wet road because the simulated vehicle does not pass the second lane without errors. Subsequently, a road friction coefficient adaptation of the emergency steer assist is investigated. This adaptation varies the maximum lateral acceleration of the evasive trajectory depending on an estimated value of the road friction coefficient in order not to exceed the maximum adhesion coefficient of the wheels during the evasive maneuver. Ideally, the estimated value matches the true road friction coefficient so that the second lane is passed without errors even on a wet, snow- and ice-covered road. In contrast, an existing difference determines whether the second lane is reached. Finally, the necessary accuracy requirements of the road friction coefficient estimation are determined in an novel estimation error diagram. A road friction coefficient adaptation increases the driving safety of driver advanced assistance systems (ADAS) that are in series production today and future highly automated driving functions (HAF) and is necessary for automated driving because the driver is not present as a fallback level. The described results were presented before in [1].