Optimal Linear Parameterization for On-Line Estimation of Tire-Road Friction

Abstract In this article, we propose a linear parameterization (LP) for representing the friction in the tire-road interface, suitable for on-line identification. This model was obtained by employing function approximation techniques, which results in an optimization problem to minimize the fitting error between the LP and the nonlinear Burckhardt model. Compared with others LPs proposed in the literature, the optimal LP features a reduced number of parameters and good approximation capabilities. Moreover, the proposed model can be identified though linear identification techniques, simplifying the on-line peak friction estimation. Simulation results obtained with a vehicle simulator demonstrates the effectiveness of the proposed parameterization.