Algorithms, Vol. 12, Pages 44: Integrated Speed Planning and Friction Coefficient Estimation Algorithm for Intelligent Electric Vehicles (Algorithms)

To improve the safety of intelligent electric vehicles and avoid side slipping on curved roads with changing friction coefficients, an integrated speed planning and friction coefficient estimation algorithm is proposed. With this algorithm, the speeds of intelligent electric vehicles can be planned online using estimated road friction coefficients to avoid lane departures. When a decrease in the friction coefficient is detected on a curved road with a large curvature, the algorithm will plan a low and safe speed to avoid side slipping. When a normal friction coefficient is detected, the algorithm will plan a higher speed for normal driving. Simulations using MATLAB and CarSim have been performed to demonstrate the effectiveness of the designed algorithm. The simulation results suggest that the proposed algorithm is applicable to speed planning on curved roads with changing friction coefficients.