Tyre-Road Friction Coefficient Estimation using Maximum Entropy

目前自动化的趋势包括重型货车的自动化。重型货车有很长的停车距离，这取决于前面道路的状况。计算机视觉可以用来确定车辆前方道路的特性，从而可以确定车辆在紧急停车操作中应该去哪里。然而，计算机视觉提供的道路特性的估计是一个估计，这意味着它具有一些与之相关的不确定性。如果不考虑这种不确定性，车辆的实际停车距离可能比预期的要长得多。用于制定车辆运动规划决策的内部体系结构，集成了计算机视觉系统对摩擦特性的估计，尚未明确定义。此外，需要一种方法来定义和理解来自计算机视觉系统的摩擦特性估计的不确定性，并将其构建到停车距离估计算法中。这笔海外旅行补助金旨在资助瑞典哥德堡的查尔默斯科技大学的访问。这笔赠款将使米格利博士和查尔默斯的车辆动力学小组之间进行密切合作。它还将允许与沃尔沃卡车进行技术讨论，沃尔沃卡车对重型汽车自动化领域感兴趣。Midgley博士将能够在架构和距离估计问题上深入工作，同时与来自Chalmers和沃尔沃卡车的研究人员自由交流，并为未来的合作研究项目建立联系。

Current trends toward automation include the automation of heavy goods vehicles. Heavy goods vehicles have long stopping distances which depend on the state of the road ahead of them. Computer vision can be used to determine the properties of the road ahead of the vehicle, allowing the possibility of determining where the vehicle should go in an emergency stopping manoeuvre. However, the estimate provided by computer vision of the properties of the road is an estimate, meaning that it has some uncertainty associated with it. Without taking this uncertainty into account, the actual stopping distance of the vehicle might be much longer than anticipated. The internal architecture for making vehicle motion planning decisions, integrating estimates of friction properties from the computer vision system, has not been clearly defined. In addition, a method is required for defining and understanding the uncertainty of the friction property estimates from the computer vision system and building this into the stopping distance estimation algorithm. This overseas travel grant seeks to fund a visit to Chalmers University of Technology in Gothenburg, Sweden. The grant will enable close collaboration between Dr Midgley and the vehicle dynamics group at Chalmers. It will also allow technical discussions with Volvo Trucks, who have an interest in the area of heavy vehicle automation. Dr Midgley will be able to work intensively on the architecture and distance estimation problems, while communicating freely with researchers from Chalmers and Volvo Trucks, and build links for future collaborative research projects.