A method includes determining temperature values for roadway areas ahead of a vehicle, determining lubricant state values for the roadway areas, and determining lubricant thickness values for the roadway areas. The method also includes determining a tire-road friction estimate for each of the roadway areas using the temperature values, the lubricant state values, and the lubricant thickness values, and defining a friction map that relates the tire-road friction estimates to the roadway areas. The method also includes determining a motion plan based at least in part on the friction map, and controlling the vehicle based on the motion plan.
Tire-road friction estimation and mapping
2020-09-15
Patent
Electronic Resource
English
British Library Conference Proceedings | 2005
|Springer Verlag | 2022
|British Library Conference Proceedings | 2006
|