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Thorsten Lajewski - Friction Potential Estimation for Autonomous Driving

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Thorsten Lajewski

Friction Potential Estimation for Autonomous Driving

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 816 2022

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Fundamentals of Tyre Friction and its Effect in Tyre Models S. 36-54

„… 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 …”

Grip Map S. 81-103

„… 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 …”

Development of a Friction Potential Measurement Method S. 55-80

„… 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 …”

Introduction S. 1-35

„… 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 …”

Titelei/Inhaltsverzeichnis S. I-XX

„… 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 …”

Conclusions S. 136-138

„… 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 …”

Appendix S. 139-154

„… )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 …”

Bibliography S. 155-174

„… , 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 …”

Remaining Risk of Overestimating the Friction Potential S. 127-135

„… 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 …”

doi.org/10.51202/9783186816122

VDI Wissensforum GmbH - LAND.TECHNIK AgEng 2019

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VDI Wissensforum GmbH (ed.)

LAND.TECHNIK AgEng 2019

Series: VDI-Berichte

Volume 2361 2019

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G. Molari, M. Mattetti, M. Varani, F. Paolini, S. Fiorati, P. Mancinelli, K. Štefek, C. Di Dio Field performance of Trelleborg PneuTrac tyres S. 57-62

„… compaction. Nevertheless, in the last 50 years, wheel load has increased more than twice the tyre-soil …” „… times more than tyre-soil contact area, consequently the impact of modern tractors to the soil has been …” „… Field performance of Trelleborg PneuTrac tyres Prof. Giovanni Molari, Dr.-Ing Michele Mattetti …”

A. Lajunen Development of a tire-soil interaction model for agricultural tractors S. 47-56

„… Tyre Model: A validated approach for the simulation of high volume tyres – Part I: Model structure and …” „… parameterisation. Journal of Terramechanics 75 (2018) pp. 3-14 [11] Witzel, P.: The Hohenheim Tyre Model: A …” „… validated approach for the simulation of high volume tyres – Part II: Validation. Journal of Terramechanics …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… � � � � � � � � � � � � � � � � � � 29 S. Liljenberg, M. Frederiksen, T. H. Langer, Danfoss Power Solutions, Nordborg, Denmark f Tyres …” „… � � � � � � � � � � � � � � � � 47 A. Lajunen, University of Helsinki, Finland Field performance of Trelleborg PneuTrac tyres …”

doi.org/10.51202/9783181023617

VDI Wissensforum GmbH - LAND.TECHNIK 2022

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VDI Wissensforum GmbH (ed.)

LAND.TECHNIK 2022

Series: VDI-Berichte

Volume 2395 2022

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A. Paturle, F. Pinet, A. Duparque, D. Martin, V. Tomis, O. Scheurer, C. Ugarte, M. Lefebvre A tyre integrated sensor to monitor real time soil physical properties S. 327-334

„… go further in the potential tyre/soil relationships by adding the tyre criteria, KSout, the speed of …” „… A tyre integrated sensor to monitor real time soil physical properties Dr. A. Paturle, F. Pinet …” „… measurement of the inner deformation of the tyre at the entrance and exit of the soil contact. Introduction …”

C. Birkmann, J. Wieckhorst, J. Pieper, C. Ehlert, R. Stirnimann, M. Stettler The Integration of a Scientific Soil Compaction Risk Indicator (TERRANIMO) into a Holistic Tractor and Implement Optimization System (CEMOS) S. 29-36

„… .; Lamandé, M.; Lassen, P.; Tøgersen, F. A.; Arvidsson, J.; Keller, T.: Modelling effects of tyre inflation …” „… pressure on the stress distribution near the soil-tyre interface. Biosystems Engineering (2008), H. 99, S …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 317 S. Geißler, T. Herlitzius, Technical University Dresden A tyre integrated sensor to monitor real …”

doi.org/10.51202/9783181023952

VDI Wissensforum GmbH - Reifen – Fahrwerk – Fahrbahn

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VDI Wissensforum GmbH (ed.)

Reifen – Fahrwerk – Fahrbahn

Series: VDI-Berichte

Volume 2356 2019

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C. Carrillo Vasquez Investigation of the Effects of Road Texture on Friction Behavior for Passenger Car Tyre Rubber Compounds to Enhance Friction Characteristics on Tyre Model Simulations S. 151-168

„… Investigation of the Effects of Road Texture on Friction Behavior for Passenger Car Tyre Rubber …” „… Compounds to Enhance Friction Characteristics on Tyre Model Simulations Untersuchung der Auswirkungen …” „… enormous impact on problem-solving and cost reduction. The characteristics of the tyres significantly …”

Titelei/Inhaltsverzeichnis S. I-VIII

„… Texture on Friction Behavior for Passenger Car Tyre Rubber Compounds to Enhance Friction Characteristics …” „… on Tyre Model Simulations . . . . . . . 151 C. Carrillo Vasquez, M.Sc., fka GmbH, Aachen …”

R. Uil, F. Petry, M. Bäcker, A. Gallrein, F. Calabrese Virtual tire pre-development using the CDTire model suite – A feasibility study using the CDTire model suite paving the road towards virtual tire development S. 217-240

„… eignen (z.B. MF-Tyre, TMeasy), nach wie vor Messungen an reellen Reifen zur Parametrierung erfordern …” „… tire characterization programs lies in the fact that most tire models (e.g. MF- Tyre, TMeasy) suitable …” „… advantages over well-known empirical tire models (i.e. MF-tyre [5], TMeasy [6]) because the higher frequency …”

R. Zimmermann, A. Batzdorf, G. Prokop, B. Bäker Messelektronik in Faser-Elastomerverbünden zur drahtlosen und echtzeitfähigen Messwerterfassung in Motorradreifen S. 299-X

„… tyre for motor vehicles is a very complex procedure. By using measurement electronics from an early …”

K. Singh, F. Petry, P. Alipour, D. Khadraoui Application of Machine Learning & Deep Learning Techniques in the Context of Use Cases Relevant for the Tire Industry S. 241-268

„… , and C. Bederna, “Predicting aquaplaning performance from tyre profile images with machine learning …” „… particle filtering methods for full vehicle and tyre identification,” Veh. Syst. Dyn., pp. 1–22, 2017 …”

doi.org/10.51202/9783181023563

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VDI Wissensforum GmbH (ed.)

Reifen – Fahrwerk – Fahrbahn

Series: VDI-Berichte

Volume 2398 2022

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V. Yordanov, L. Eckstein Continuous Estimation of the Local Friction Value Potential based on Tyre Acoustic Data S. 83-96

„… Continuous Estimation of the Local Friction Value Potential based on Tyre Acoustic Data Ventseslav …” „… various researchers, where approaches based on tyre vibrations offer the high-est potential. On the other …” „… potential is investigated. Two different tyre types were measured in laboratory environment under free …”

Titelei/Inhaltsverzeichnis S. I-VIII

„… ReifenentwicklungContinuous Estimation of the Local Friction Value Potential based on Tyre Acoustic Data . . . . .83V …”

S. Bilgic Istoc, M. Bäcker, F. Calabrese, A. Gallrein, C. Burkhart, L. Hagemann Hardware-in-the-Loop-Simulation mit erweiterten physikalischen Reifenmodellen zur virtuellen Erprobung von Steuergeräten S. 117-138

„… response of tyres to brake torque variations and road uneven-ness, page 216, Delft University of Technology …” „… , ISBN 90-370-0166-1[4] P. van der Jagt, H.B. Pacejka and A.R. Savkoor, “Influence of tyre and suspension …” „… , A Semi-Empirical Three-Dimensional Model of the Pneumatic Tyre Rollingover Arbitrarily Uneven Road …”

S. Schläfle, F. Gauterin, R. Lallement Aufbau eines Prüfstands zur Messung von Reifen-Fahrbahn-Feinstaubemissionen auf realen Fahrbahnoberflächen S. 15-34

„… emissions from the tyre–road interface – effect of stud properties, traction sanding and resuspension. In …” „… ; REIFFERSCHEID, Georg: Tyre and road wear particles (TRWP) - A review of generation, properties, emissions, human …” „… , July 2014 [20] LOWNE, R. W.: The Effect of Road Surface Texture on Tyre Wear. In: Wear (1969), S …”

doi.org/10.51202/9783181023983

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