Abstract
In this paper, a review on road friction virtual sensing approaches is provided. In particular, this work attempts to address whether the road grip potential can be estimated accurately under regular driving conditions in which the vehicle responses remain within low longitudinal and lateral excitation levels. This review covers in detail the most relevant effect-based estimation methods; these are methods in which the road friction characteristics are inferred from the tyre responses: tyre slip, tyre vibration, and tyre noise. Slip-based approaches (longitudinal dynamics, lateral dynamics, and tyre self-alignment moment) are covered in the first part of the review, while low frequency and high frequency vibration-based works are presented in the following sections. Finally, a brief summary containing the main advantages and drawbacks derived from each estimation method and the future envisaged research lines are presented in the last sections of the paper.
Highlights
Tyre forces influence largely the chassis stability and manoeuvrability [1]
As additional manoeuvres at lower excitation levels are not provided it is not possible to establish a fair comparison with the results described in [118]
Regarding the low frequency approaches most of them are based on the assumption that longitudinal and lateral slip stiffness depend on the friction coefficient
Summary
Tyre forces influence largely the chassis stability and manoeuvrability [1]. These forces are limited by the maximum friction that can be generated between the tyre carcass and the road surface, which is the result of complex phenomena on the rubber-road interface. Despite rigorous studies having been developed to understand such interactions, vehicle dynamics engineers often feel more comfortable reducing these analyses to the estimation of a normalised coefficient, often called road friction potential [3] or tyre-road friction coefficient (TRFC) [4,5]. An important drawback remarked by several authors is that a high excitation level (e.g., an emergency braking manoeuvre) is necessary in order to obtain an accurate estimation of the road grip potential when traditional slip-based approaches are employed [15,16,17,18]. Once the vehicle planar motion states are determined, the tyre lateral slips (α f , αr ) can be computed from expressions (4) and (5)
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