A method of controlling a vehicle having wheels provided with tires resting on a surface, the method using a model of the physical behavior of each tire as a function of a sideslip angle (β.sub.ij) for each tire relative to the surface. The model is obtained by implementing an adaptive algorithm that selectively applies an affABREGEine model (Z1), a DUGOFF model (Z2), or a constant model (Z3).

A method of controlling a vehicle having wheels provided with tires resting on a surface, the method using a model of the physical behavior of each tire as a function of a sideslip angle (β.sub.ij) for each tire relative to the surface. The model is obtained by implementing an adaptive algorithm that selectively applies an affABREGEine model (Z1), a DUGOFF model (Z2), or a constant model (Z3).

Systems and methods are disclosed for estimating slipperiness of a road surface. This estimate may be obtained using an image sensor mounted on a vehicle. The estimated road slipperiness may be utilized when calculating a risk index for the road, or for an area including the road. If a predetermined threshold for slipperiness is exceeded, corrective actions may be taken. For instance, warnings may be generated to human drivers that are in control of driving vehicle, and autonomous vehicles may automatically adjust vehicle speed based upon road slipperiness detected.

A vehicle and a system and method of controlling the vehicle. The system includes a sensor and a processor. The sensor obtains a first estimate of a force on a tire of the vehicle based on dynamics of the vehicle. The processor is configured to obtain a second estimate of the force on the tire using a tire model, determine an estimate of a coefficient of friction between the tire and the road from the first estimate of the force and the second estimate of the force, and control the vehicle using the estimate of the coefficient of friction.

A vehicle and a system and method of controlling the vehicle. The system includes a sensor and a processor. The sensor obtains a first estimate of a force on a tire of the vehicle based on dynamics of the vehicle. The processor is configured to obtain a second estimate of the force on the tire using a tire model, determine an estimate of a coefficient of friction between the tire and the road from the first estimate of the force and the second estimate of the force, and control the vehicle using the estimate of the coefficient of friction.

A system and method for estimating road conditions ahead of a vehicle, including: a LIDAR sensor operable for generating a LIDAR point cloud; a processor executing a road condition estimation algorithm stored in a memory, the road condition estimation algorithm performing the steps including: detecting a ground plane or drivable surface in the LIDAR point cloud; superimposing an M×N matrix on at least a portion of the LIDAR point cloud; for each patch of the LIDAR point cloud defined by the M×N matrix, statistically evaluating a relative position, a feature elevation, and a scaled reflectance index; and, from the statistically evaluated relative position, feature elevation, and scaled reflectance index, determining a slipperiness probability for each patch of the LIDAR point cloud; and a vehicle control system operable for, based on the determined slipperiness probability for each patch of the LIDAR point cloud, affecting an operation of the vehicle.

A system and method for estimating road conditions ahead of a vehicle, including: a LIDAR sensor operable for generating a LIDAR point cloud; a processor executing a road condition estimation algorithm stored in a memory, the road condition estimation algorithm performing the steps including: detecting a ground plane or drivable surface in the LIDAR point cloud; superimposing an M×N matrix on at least a portion of the LIDAR point cloud; for each patch of the LIDAR point cloud defined by the M×N matrix, statistically evaluating a relative position, a feature elevation, and a scaled reflectance index; and, from the statistically evaluated relative position, feature elevation, and scaled reflectance index, determining a slipperiness probability for each patch of the LIDAR point cloud; and a vehicle control system operable for, based on the determined slipperiness probability for each patch of the LIDAR point cloud, affecting an operation of the vehicle.

Embodiments of the present invention provide a vehicle control system comprising a speed control system, the speed control system being configured automatically to attempt to cause a vehicle to operate in accordance with a target speed value by causing a first vehicle speed value determined according to a first predetermined method to become or be maintained substantially equal to the predetermined target speed value at least in part by causing application of positive drive torque to one or more wheels by means of a powertrain, wherein the speed control system is configured to impose a constraint on the amount of driving torque that may be demanded of the powertrain in dependence on the target speed value and a second vehicle speed value determined according to a second predetermined method, said a second predetermined method being based on the mean speed of the driven wheels of the vehicle.

When information related to road surface conditions is conveyed from a vehicle body side system to a tire-mounted sensor and the tire-mounted sensor determines the road surface condition, an integrated voltage value is corrected based on the information related to the road surface condition. It is thus possible to estimate the road surface condition more accurately. Furthermore, in as much as the road surface condition is estimated at each tire-mounted sensor, the road surface condition can be estimated for each wheel.

Methods and systems are provided for estimation of a road roughness index (RRI) and adjusting vehicle operation based on the metric. In one example, a method may include estimating the RRI as a function of a pitch energy and a roll energy of the vehicle travelling on the road. In response to the RRI being higher than a threshold, engine operation such as EGR flow rate may be adjusted.