Zusammenfassung
Autonomous vehicles need information about the environment for trajectory planning. This information is usually stored in a high-definition map. This map is made available to the vehicle. This thesis deals with the friction potential, which is important for planning. The unitless value determines the maximum forces that can be transmitted between tyre and road. The friction potential is a function of many influencing factors. In this work, possibilities are evaluated to capture the most important of these influencing factors, the road surface and the intermediate layer, via external data sources. To determine the influence of the road surface, friction measurement methods established in road construction are compared with vehicle measurements. To determine the intermediate layer, data from weather stations, rain radar and a test vehicle are evaluated.
Contents
Abbreviations VIII
Symbols X
Abstract XVI
Kurzfassung XVIII
1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 State of the Art . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.1 Friction Potential Measurement Methods . . . . . . . . . ....
Schlagworte
Autonomes Fahren Klassifizierungsverfahren Reifen autonomous driving Trajektorienplanung Straßenbau Reibwert Straßenwetter Tyre Friction Trajectory Planning Road Maintenance Classification Methods- Kapitel Ausklappen | EinklappenSeiten
- 1–35 1 Introduction 1–35
- 81–103 4 Grip Map 81–103
- 136–138 7 Conclusions 136–138
- 139–154 Appendix 139–154
- 155–174 Bibliography 155–174
9 Treffer gefunden
- „... temperature. Theintroduced correction parameters differ for summer and winter tyres.The internal tyre pressure ...” „... 2 Fundamentals of Tyre Friction and itsEffect in Tyre ModelsIn the previous chapter, it was deduced ...” „... , explaining the interaction between the tyre and theroad surface, and highlighting two simple tyre models used ...”
- „... test period.Only SWB measurements on a wet surface were used. In addition, only the tyresSR1 and SR2 ...” „... drove the public road track three times with one of the three tyres.The measurements on the test track ...” „... tyres.Keeping in mind that the custom tyres showed systematic measurement errors andthat it was decided to use ...”
- „... used. The one usedduring the development of the SWB method, a winter tyre set and a new summer tyreset ...” „... tyrescan be seen in figure 3.11. In order to exclude the influence of the tyre set from theresults, only ...” „... moment is under-estimated since a locked tyre is unable to utilise the friction potential. Second ...”
- „... alinear regression line through parts of the tyre-slip curve, which are already insidethe non-linear ...” „... an individual tyre andthe road are exhausted. Lane keeping systems warn the driver if the vehicle ...” „... relative movement between the tyre rubber and the roadsurface. This relative movement is often represented ...”
- „... TyreSWB Single Wheel BrakingUNECE United Nations Economic Commission for EuropeXBS Extended Brake ...” „... – KlassifizierungsverfahrenKeywords: Tyre – Friction – Autonomous Driving – Trajectory Planning – Road Maintenance – Road Weather ...” „... maximum forces that can be transmitted between tyre and road. The friction potential is a function of many ...”
- „... used tyre, intermediate layer and road surface was found.Indications of an additional influence of the ...” „... aredifferent friction potential values between two tyre sets of the same tyre type, whichcan only be explained ...” „... by the tyre wear. No friction potential dependence on the veloc-ity was found. Also no seasonal ...”
- „... )The calculation of the forces Fx, Fy and moment Mz require the tyre forces at eachwheel. Therefore ...” „... , the lateral forces are calculated using a magic formula tyre model.This model requires the parameters ...” „... κ, α and Fz at each tyre. For the three tyres rear-left,rear-right and front-left only lateral ...”
- „... , F.; SVENDENIUS, J.; YNGVE, S. et al. Evaluation of tyre to roadfriction estimators, test methods and ...” „... of tyres with regard torolling sound emissions and/or to adhesion on wet surfaces and/or to rolling ...” „... : ribbed test tyre. 2009.Tech. rep. PIARC – World Road Association.31. ZAID, N.; HAININ, M.; IDHAM, M. et ...”
- „... tyre1336 Remaining Risk of Overestimating the Friction PotentialThe distribution of the available wet ...” „... the RoadSTAR truck and thePIARC tyre. The friction potential values are first velocity corrected and ...”