Abstract
A method that estimates the coefficient of friction between tire and road, using a powertrain model, is proposed in this study. This method uses engine rpm, powertrain characteristics, and brake system data and estimates traction and braking torque acting on a wheel. It uses the equation of motion of the wheels to obtain tire longitudinal force. The coefficient of friction is finally predicted by µ-slip characteristics and the ratio between tire normal and longitudinal force. The validity of the proposed method is shown through computer simulation. In the simulation, the coefficient of friction is predicted closely with the actual friction in most cases. For the enhancement of the proposed method, we suggest additional work such as µ-slip approximation, longitudinal speed estimation, and filter design.