ABSTRACT
Automated vehicles require information on the current road condition, i.e. the tire-road friction coefficient for trajectory planning and braking or steering interventions. In this paper an adaptive observer to estimate tire-road friction only utilizing the information from Electric Power System (EPS) and other sensors installed in production vehicles is applied. A new state, the front wheel slip angle divided by tire-road friction coefficient, is introduced for friction estimation and to judge when the estimated result is reliable. The algorithm is verified in IPG-Carmaker.
