METHOD AND SYSTEM FOR CONTROLLING A VEHICLE TIRE-TO-ROAD FRICTION ESTIMATION

摘要

There is provided a method for controlling a vehicle (200) traveling on a road (202). The method comprising: identifying (100) an upcoming curve (204) and determining (102) properties of the curve; determining (104) a current vehicle speed, v_v; estimating (106) a friction, µ_e, between a tire of the vehicle and the road; estimating (108) a maximum allowable vehicle speed, v_{max_e}, when entering the curve based on the curve properties, vehicle speed and estimated friction; if the current vehicle speed is higher than the estimated maximum allowable vehicle speed, determining (112) that a friction measurement is required; if a distance, d_v, between the vehicle and a curve entrance is higher than a predetermined threshold distance, d_T, and if a braking action is detected, performing (116) a friction measurement during the braking action to determine a current friction µ_c; if a distance between the vehicle and the curve entrance is lower than the predetermined threshold distance, performing (118) a friction measurement to determine a current friction; and determining (120) a maximum allowable vehicle speed v_{max_d} based on the curve radius, vehicle speed and current friction.