D. Pavković, J. Deur, J. Asgari, D. Hrovat

Experimental Analysis of Potentials for Tire Friction Estimation in Low-Slip Operating Mode

SAE paper #2006-01-0556, SAE Transactions Journal of Passenger Cars - Mechanical Systems, Vol. 115, No. 6, pp. 369-380, 2006.
This paper presents a detailed experimental analysis of potentials for road condition estimation based on the tire static curve gradient in the low-slip region, and the damping of the 40 Hz tire vibration mode. An experimental vehicle equipped with four standard ABS sensors (44 pulses/rev), two special high-resolution wheel speed sensors (512 pulses/rev), and a halfshaft torque sensor was utilized for collecting the experimental data. The test data were recorded on a test track characterized by different road conditions such as dry concrete, wet and dry ice, and wet and dry snow.