Method and system for controlling a vehicle tire-to-road friction estimation

摘要

Method for controlling a vehicle, comprising: identifying an upcoming curve and determining its properties; determining current vehicle speed, v_v, estimating friction, μ_e, between a tire of the vehicle and the road; estimating maximum allowable vehicle speed, v_{max_e}, when entering the curve based on the properties, speed and friction; if the current vehicle speed is higher than the estimated maximum allowable vehicle speed, determining that a friction measurement is required; if 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 a friction measurement during the braking action to determine current friction, μ_c; if a distance between the vehicle and the curve entrance is lower than the predetermined threshold distance, performing a friction measurement to determine a current friction; and determining a maximum allowable vehicle speed v_{max_d} based on the curve radius, speed and friction.