INVASIVE ACTIVE DYNAMIC TESTS TO DETERMINE SURFACE COEFFICIENT OF FRICTION

摘要

A method for testing to determine a coefficient of friction between a vehicle wheel and a surface with which the vehicle wheel is in contact (“surface mu”) includes the steps of calculating a surface mu confidence level based upon an evaluation of a locale of interest, an evaluation of visual cues sensed by the vehicle at the locale of interest, and/or an evaluation of vehicle signals at the locale of interest and scheduling the vehicle to perform active dynamic testing at the locale of interest. The method further includes the steps of performing the active dynamic testing, wherein the testing comprises commanding the vehicle to perform one or more of propulsion torqueing, regenerative torqueing, or brake torqueing of at least one wheel of the vehicle, receiving a measured parameter from the at least one wheel during said testing, and calculating a surface mu value for the locale of interest.