Method and system for determining tire-to-road friction in a vehicle
A method for estimating a tire property of a vehicle based on tire-to-road friction properties for a fleet of vehicles. The method includes: determining a tire-to-road friction for a plurality of vehicles, belonging to the fleet of vehicles, at a plurality of specified locations; determining a reference tire-to-road friction for the fleet of vehicles at each specified location; in a vehicle, determining a current tire-to-road friction at a first location being one of the specified locations; determining a difference between the current tire-to-road friction and the reference tire-to-road friction of the fleet for the first location; and estimating a tire property of the vehicle based on the determined difference. There is also provided a system configured to perform the described method.
1. A method for estimating a tire property of a vehicle based on tire-to-road friction properties for a fleet of vehicles, the method comprising:
determining a tire-to-road friction for a plurality of vehicles, belonging to a fleet of vehicles, at a plurality of specified locations;
determining a confidence value of each determined tire-to-road friction;
determining a reference tire-to-road friction for the fleet of vehicles at each of the plurality of specified locations as a weighted average of friction values determined at the respective specified location, wherein the weighted average of friction values is based on the confidence value for each determined tire-to-road friction;
in a vehicle, determining a current tire-to-road friction at a first location being one of the plurality of specified locations;
determining a difference between the current tire-to-road friction determined in the vehicle and the reference tire-to-road friction determined for the fleet for the first location; and
estimating a tire property of the vehicle based on the determined difference.
2. The method according to claim 1 , further comprising, if the current tire-to-road friction is lower than the reference friction by more than a predetermined amount, providing an indication to a driver to control the tire.
3. The method according to claim 2 , further comprising determining that the current tire-to-road friction is lower than the reference friction by more than a predetermined amount for at least a predetermined number of friction determinations within a predetermined period of time before providing an indication to a driver to control the tire.
4. The method according to claim 1 , further comprising, if the current tire-to-road friction is lower than the reference friction by more than a predetermined amount, providing tire-to-road friction information to a vehicle control system to modify a vehicle behavior based on the current tire-to-road friction.
5. The method according to claim 1 , wherein the confidence value is based on a quality of input signals provided to a friction estimator function in a vehicle.
6. The method according to claim 1 , wherein determining the confidence value comprises evaluating if temperature and/or weather conditions are taken into account when determining the tire-to-road friction.
7. The method according to claim 1 , wherein a specified location covers a predetermined area, and wherein it is assumed that road conditions are the same within the predetermined area.
8. The method according to claim 7 , further comprising modifying an area of a specified location if an average determined tire-to-road friction for a portion of the area of the specified location differs from an average tire-to-road friction for the whole area of the specified location by more than a predetermined amount.
9. The method according to claim 1 , further comprising defining a specified location by clustering tire-to-road friction values based on geographic location and friction value to derive regions so that each specified location is defined by an area exhibiting the same tire-to road friction.
10. The method according to claim 1 , further comprising updating the reference tire-to-road friction by discarding older tire-to-road friction determinations acquired before a predetermined point in time, thereby accounting for changing road conditions.
11. The method according to claim 1 , wherein determining a reference tire-to-road friction comprises excluding determined tire-to-road frictions below a predetermined threshold value.
12. The method according to claim 1 , wherein determining a tire-to-road friction for one vehicle at one location comprises individually determining a tire-to-road friction for each of four tires of the vehicle.
13. A system for determining a tire property of a vehicle based on tire-to-road friction properties for a fleet of vehicles, the system comprising:
a remote server in communication with each vehicle of a plurality of vehicles forming a fleet of vehicles, each vehicle comprising a tire-to-road friction determination control unit configured to determine a current tire-to-road friction when the vehicle is at one of a plurality of specified locations, the remote server being configured to receive the determined tire-to-road frictions from the plurality of vehicles and to determine a reference tire-to-road friction as a weighted average of friction values determined at the respective specified location for the fleet at each specified location, wherein the weighted average is based on a confidence value for each determined current tire-to-road friction; and
a vehicle configured to determine a difference between the current tire-to-road friction determined in the vehicle and the reference tire-to-road friction determined for the fleet for a first location; and to estimate a tire property of the vehicle based on the difference.
14. The system according to claim 13 , wherein the remote server is further configured to define a specified location by clustering tire-to-road friction values based on geographic location and friction value to derive regions so that each specified location is defined by an area exhibiting the same tire-to-road friction.