On-Board Road Friction Estimation Technique for Autonomous Driving Vehicle-Following Maneuvers

Abstract

In recent years, autonomous vehicles and advanced driver assistance systems have drawn a great deal of attention from both research and industry, because of their demonstrated benefit in reducing the rate of accidents or, at least, their severity. The main flaw of this system is related to the poor performances in adverse environmental conditions, due to the reduction of friction, which is mainly related to the state of the road. In this paper, a new model-based technique is proposed for real-time road friction estimation in different environmental conditions. The proposed technique is based on both bicycle model to evaluate the state of the vehicle and a tire Magic Formula model based on a slip-slope approach to evaluate the potential friction. The results, in terms of the maximum achievable grip value, have been involved in autonomous driving vehicle-following maneuvers, as well as the operating condition of the vehicle at which such grip value can be reached. The effectiveness of the proposed approach is disclosed via an extensive numerical analysis covering a wide range of environmental, traffic, and vehicle kinematic conditions. Results confirm the ability of the approach to properly automatically adapting the inter-vehicle space gap and to avoiding collisions also in adverse road conditions (e.g., ice, heavy rain).