A Study on Friction Estimation of Road Surface by Multiple Model Approach

Abstract

This paper describes the estimation algorithm of the road condition. This algorithm is formulated based on Interacting Multiple Model (IMM) algorithm. Ten system modes are modeled according to the road friction. Changes of the ten system modes are also modeled as switching from one mode to another in a probabilistic manner. The mode probabilities and friction coefficient are estimated based on Extended Kalman Filter (EKF) .This algorithm is applied for estimating road friction from experimental data. Estimation results show that the algorithm is effective in the estimation of road friction.