{"id":"https://openalex.org/W2112779596","doi":"https://doi.org/10.1109/acc.2009.5159952","title":"Estimation of road friction for enhanced active safety systems: Algebraic approach","display_name":"Estimation of road friction for enhanced active safety systems: Algebraic approach","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2112779596","doi":"https://doi.org/10.1109/acc.2009.5159952","mag":"2112779596"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5159952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013654952","display_name":"Changsun Ahn","orcid":"https://orcid.org/0000-0003-1455-9270"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changsun Ahn","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019025642","display_name":"Huei Peng","orcid":"https://orcid.org/0000-0002-1844-3163"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huei Peng","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034788095","display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-9544-4226"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Eric Tseng","raw_affiliation_strings":["Powertrain Controls Research & Advanced Engineering, Ford Motor Company Limited, Dearborn, MI, USA","Powertrain Controls Research & Advanced Engineering, Ford Motor Company, Dearborn, MI 48121 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Powertrain Controls Research & Advanced Engineering, Ford Motor Company Limited, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Powertrain Controls Research & Advanced Engineering, Ford Motor Company, Dearborn, MI 48121 USA","institution_ids":["https://openalex.org/I1292974536"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1104","last_page":"1109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.918389081954956},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6779249906539917},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6701003909111023},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.6508485674858093},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6274216771125793},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5979515910148621},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45778146386146545},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4220088720321655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40957915782928467},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.33661317825317383},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2496871054172516},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1894398033618927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08598911762237549}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.918389081954956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6779249906539917},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6701003909111023},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.6508485674858093},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6274216771125793},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5979515910148621},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45778146386146545},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4220088720321655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40957915782928467},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.33661317825317383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2496871054172516},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1894398033618927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08598911762237549},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5159952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46000000834465027,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W373510132","https://openalex.org/W574707276","https://openalex.org/W602795112","https://openalex.org/W1522838158","https://openalex.org/W1536651570","https://openalex.org/W1564487102","https://openalex.org/W1969653231","https://openalex.org/W2015614033","https://openalex.org/W2018556034","https://openalex.org/W2074902057","https://openalex.org/W2100213983","https://openalex.org/W2106090966","https://openalex.org/W2119186175","https://openalex.org/W2136981479","https://openalex.org/W2144733032","https://openalex.org/W2279111922","https://openalex.org/W2536114268","https://openalex.org/W2582120199","https://openalex.org/W2585432769","https://openalex.org/W2626922922","https://openalex.org/W3021877006","https://openalex.org/W4250828462","https://openalex.org/W6612726161","https://openalex.org/W6618400766","https://openalex.org/W6631291036","https://openalex.org/W6633900176"],"related_works":["https://openalex.org/W2090534964","https://openalex.org/W2107572791","https://openalex.org/W2007435079","https://openalex.org/W2772596473","https://openalex.org/W1979110738","https://openalex.org/W2534917980","https://openalex.org/W1492891152","https://openalex.org/W4251854423","https://openalex.org/W3186144085","https://openalex.org/W2022405596"],"abstract_inverted_index":{"Knowledge":[0],"of":[1,15],"tire":[2,65,76],"friction":[3,28],"force":[4],"capacity,":[5],"i.e.":[6],"tire-load":[7],"frictional":[8],"coefficient,":[9],"is":[10,83],"important":[11],"for":[12,27],"the":[13,46,80],"control":[14],"vehicle":[16,58],"active":[17],"safety":[18],"systems.":[19],"In":[20],"this":[21,54],"paper":[22,55],"we":[23],"review":[24],"several":[25],"methods":[26,37,51],"estimation":[29],"and":[30,34,45,63,79],"develop":[31],"two":[32],"robust":[33],"cost":[35],"effective":[36],"based":[38,73,84],"on":[39,74,85],"a":[40,86],"nonlinear":[41,87],"least":[42,88],"square":[43,89],"approach":[44],"peak":[47],"aligning":[48],"torque.":[49],"The":[50,67],"proposed":[52],"in":[53],"utilize":[56],"simple":[57],"lateral":[59],"dynamics,":[60],"steering":[61],"system,":[62],"front":[64,75],"dynamics.":[66],"first":[68],"estimator":[69],"uses":[70],"direct":[71],"calculation":[72],"self-aligning":[77],"torque":[78],"second":[81],"method":[82],"method.":[90],"These":[91],"estimators":[92],"are":[93],"verified":[94],"with":[95],"Carsim":[96],"under":[97],"various":[98],"conditions.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}