TY - GEN
T1 - A Concept for Estimation and Prediction of the Tire-Road Friction Potential for an Autonomous Racecar
AU - Hermansdorfer, Leonhard
AU - Betz, Johannes
AU - Lienkamp, Markus
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This paper presents a concept to estimate and predict the friction potential between a vehicle's tires and the road surface. An important aspect of this research project is a local high-resolution evaluation and storage of the obtained data to gain precise knowledge of the road conditions. Next to a current-state friction potential estimation algorithm, a concept is introduced which aims to predict the tire-road friction potential for a predefined horizon ahead of the vehicle. The concept focuses on an autonomous racecar, which will drive on different racetracks during the Roborace Season Alpha events. After a brief overview of state-of-the-art methods in tire-road friction potential estimation, the overall concept is presented and its application on the real-world racecar is outlined. The effects of the high-resolution friction potential information on the raceline trajectory planning algorithms are shown. Lastly, aspects of future work regarding research and implementation of the presented concept and a transfer to public road cars are discussed.
AB - This paper presents a concept to estimate and predict the friction potential between a vehicle's tires and the road surface. An important aspect of this research project is a local high-resolution evaluation and storage of the obtained data to gain precise knowledge of the road conditions. Next to a current-state friction potential estimation algorithm, a concept is introduced which aims to predict the tire-road friction potential for a predefined horizon ahead of the vehicle. The concept focuses on an autonomous racecar, which will drive on different racetracks during the Roborace Season Alpha events. After a brief overview of state-of-the-art methods in tire-road friction potential estimation, the overall concept is presented and its application on the real-world racecar is outlined. The effects of the high-resolution friction potential information on the raceline trajectory planning algorithms are shown. Lastly, aspects of future work regarding research and implementation of the presented concept and a transfer to public road cars are discussed.
UR - http://www.scopus.com/inward/record.url?scp=85076119596&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2019.8917024
DO - 10.1109/ITSC.2019.8917024
M3 - Conference contribution
AN - SCOPUS:85076119596
T3 - 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
SP - 1490
EP - 1495
BT - 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Y2 - 27 October 2019 through 30 October 2019
ER -