CPC B60W 40/068 (2013.01) [B60W 60/001 (2020.02); B60W 30/02 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2530/20 (2013.01)] | 17 Claims |
1. A method of controlling a vehicle, comprising:
obtaining a measured yaw rate, a measured time derivative of the yaw rate, and a slip angle of the vehicle based on dynamics of the vehicle;
obtaining a model-based yaw rate and a model-based time derivative of the yaw rate for the vehicle using a tire model;
determining a metric based on a difference between the measured yaw rate and the model-based yaw rate and a difference between the measured time derivative of the yaw rate and the model-based time derivative of the yaw rate;
determine a low friction condition when the metric is greater than a threshold value and an absolute value of the slip angle is greater than one; and
controlling the vehicle based on the low friction condition.
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