Real-time measurement of tyre-road friction coefficient is extremly valuable for winter road maintenance operations, since knowledge of tyre-road friction coefficient can be used to optimise application of deicing chemicals to the roadway. In this paper, a wheel-based tyre-road friction coefficient measurement system is developed for snowploughs. Unlike a traditional Norse meter, this system is based on measurement of lateral tyre forces, has minimal moving parts and does not use a brake actuator. Hence, it is reliable and inexpensive. A key challenge is quickly detecting changes in the estimated tyre-road friction coefficient while rejecting the high levels of vibratory noise in the measured force signal. Novel filtering and signal processing algorithms are developed to adress this challenge, including a biased quadratic mean filter and an accelerometer-based vibration removal filter. Detailed experimental results are presented on the performance of the friction estimation system on different types of road surfaces. It is also shown that disturbances due to lateral and longitudinal vehicle manoeuvres on the estimated friction coefficient can be removed by using accelerometer-based filtering.


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    Title :

    Friction coefficient measurement for autonomous winter road maintenance


    Additional title:

    Reibbeiwertmessung für einen autonomen Winterdienst


    Contributors:

    Published in:

    Vehicle System Dynamics ; 47 , 4 ; 497-512


    Publication date :

    2009


    Size :

    16 Seiten, 14 Bilder, 2 Tabellen, 9 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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