A method includes determining temperature values for roadway areas ahead of a vehicle, determining lubricant state values for the roadway areas, and determining lubricant thickness values for the roadway areas. The method also includes determining a tire-road friction estimate for each of the roadway areas using the temperature values, the lubricant state values, and the lubricant thickness values, and defining a friction map that relates the tire-road friction estimates to the roadway areas. The method also includes determining a motion plan based at least in part on the friction map, and controlling the vehicle based on the motion plan.
Tire-road friction estimation and mapping
15.09.2020
Patent
Elektronische Ressource
Englisch
Springer Verlag | 2022
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