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An algebraic approach for maximum friction estimation

Abstract : A new approach to estimate the road maximum adherence is presented. It is based on a combination of new algebraic tools for estimation and diagnosis via numerical differentiation of noisy signals. Instantaneous friction is first computed within this framework. Then, extended braking stiffness concept is exploited to detect which braking efforts allow to distinguish a road type from another. A weighted Dugoff model is used during these "distinguishable" intervals to estimate the maximum friction coefficient. Promising results have been obtained in noisy simulations and real experimentations.
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Submitted on : Wednesday, May 19, 2010 - 10:41:24 AM
Last modification on : Tuesday, October 25, 2022 - 4:16:42 PM
Long-term archiving on: : Thursday, September 16, 2010 - 2:21:25 PM


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  • HAL Id : inria-00484781, version 1


Jorge Villagra, Brigitte d'Andréa-Novel, Michel Fliess, Hugues Mounier. An algebraic approach for maximum friction estimation. 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), IFAC, Sep 2010, Bologna, Italy. ⟨inria-00484781⟩



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