Slip-Based Tire-Road Friction Estimation During Braking

Abstract We develop a slip-based method that estimates tire-road friction during braking using data from standard ABS wheel speed sensors and a brake pressure sensor. During a braking maneuver, normalized traction force, μ, vs. slip data is collected and the slope of this μ vs. slip line is used to estimate the road friction. Results from field tests of the algorithm are presented.