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Friction Potential Estimation for Autonomous Driving / Introduction
Friction Potential Estimation for Autonomous Driving / Introduction
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1–35
1 Introduction
1–35
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1.1 Motivation
1.2 State of the Art
1.2.1 Friction Potential Measurement Methods
1.2.2 Friction Potential Estimation Methods
1.3 Objectives
1.4 Outline
36–54
2 Fundamentals of Tyre Friction and its Effect in Tyre Models
36–54
Details
2.1 Important Influencing Factors
2.1.1 Road Surface
2.1.2 Tyre
2.1.3 Intermediate Layer
2.1.4 Vehicle
2.2 Tyre Models
55–80
3 Development of a Friction Potential Measurement Method
55–80
Details
3.1 Test Vehicle
3.2 Measurement Method - Single Wheel Braking
3.2.1 Safety Considerations
3.2.2 Measurement Data Processing
3.2.3 Comparison with Full Braking Measurements
3.3 Measurements on Public Roads
3.3.1 Variation of Measured Friction Potential Values
3.3.2 Influence of the Road Surface
3.3.3 Influence of the Road Condition
3.3.4 Influence of the Surface Temperature
3.3.5 Influence of the Velocity
81–103
4 Grip Map
81–103
Details
4.1 SKM Measurements
4.1.1 Test Track
4.1.2 Public Road
4.1.3 Comparison with Single Wheel Braking
4.2 RoadSTAR Measurements
4.2.1 Test Track
4.2.2 Public Road
4.2.3 Comparison with Single Wheel Braking
104–126
5 Intermediate Layer Classification
104–126
Details
5.1 Input Sources
5.1.1 Road Weather Information System
5.1.2 Radar
5.1.3 Vehicle Data
5.2 Ground Truth
5.3 Classification methods
5.3.1 Established Intermediate Layer Classification Methods
5.3.2 Application of Classification Methods
5.4 Comparison of Classification Results
127–135
6 Remaining Risk of Overestimating the Friction Potential
127–135
Details
6.1 Friction Requirements for Normal Driving
6.2 Risk Estimation
136–138
7 Conclusions
136–138
Details
139–154
Appendix
139–154
Details
A Vehicle Model
B Vehicle Measurements
B.1 Friction Measurements on FAT track
B.2 Hydroplaning Example
B.3 Measurements on Snow/Ice
C Continuous Friction Potential Measurements
155–174
Bibliography
155–174
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Friction Potential Estimation for Autonomous Driving , page 1 - 35
Introduction
Autoren
Thorsten Lajewski
DOI
doi.org/10.51202/9783186816122-1
ISBN print: 978-3-18-381612-5
ISBN online: 978-3-18-681612-2
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doi.org/10.51202/9783186816122-1
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