Grid Search Based Tire-Road Friction Estimation
Why this work is in the frame
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Bibliographic record
Abstract
The tire-road friction coefficient (μ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">max</sub> ) is an important input for vehicle dynamics control system and automated driving modules. However, reliable and accurate measurement of this parameter is difficult and costly in mass-produced vehicles and thus estimation is necessary. In this research, an innovative optimization based framework to estimate μ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">max</sub> is proposed. The observation problem is formulated as a non-convex optimization. A novelty of the framework is that the μmax can be accurately estimated in real time together with side slip angle as a by-product without requiring a good initial guess for the non-convex optimization. A key observation is that the time derivative of μmax and side slip angle can be assumed as zero and computed based on measurement, respectively. This allows the observed variables to be updated at a relatively low frequency w.r.t. the solution of the optimization problem. During the interval between each two neighbouring updating time, the observer estimates the μ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">max</sub> and side slip angle by integrating sensor information based on the last update. To find the global optima approximately, a grid search method is implemented for solving non-convex optimization. The estimation results from the proposed observer and a linearization based observer (lbo) are finally compared under various tire-road conditions with simulations and experiments. The results showed that 1) the proposed observer can always guarantee stability in a wide range of vehicle operations while lbo cannot. 2) w.r.t. root mean square of estimation error, the proposed observer performs overall better than lbo in μmax estimation.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it