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Directions of work or proceedings

Estimation of longitudinal grip condition in off-road condition

Abstract : We describe an on-line observer that allows to monitor the soil-tire contact longitudinal stiffness of any off-road vehicle equipped with low cost sensors – relatively to the machine cost. The knowledge of such a value is a milestone in the development of active security devices, or at least a mean to inform the driver about the longitudinal stability of its vehicle. Indeed, they are frequently subject to ground quality changes and high slopes causing deadly roll-overs every years. The observer have been tested on a grape harvester in various conditions and its output compared with an estimation based on expensive but precise sensors.
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Directions of work or proceedings
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Submitted on : Saturday, May 16, 2020 - 8:33:09 AM
Last modification on : Wednesday, September 28, 2022 - 3:13:29 PM


  • HAL Id : hal-02603359, version 1
  • IRSTEA : PUB00048056



A. Nizard, B. Thuilot, R. Lenain. Estimation of longitudinal grip condition in off-road condition. IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. IEEE, pp.3368-3373, 2015. ⟨hal-02603359⟩



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