System and method for adapting parameters used in target slip estimation

A method for generating adapted tuning parameters for a target slip estimator module for a vehicle, comprising:

• at a controller module,
• receiving, from a road surface detection module, a road surface condition, Sn, range of friction, mu, for the road surface Sn, and a confidence level, Ci for the Sn, the Ci being between 0 and 1;
• receiving sensor system data from a sensor system;
• determining an initial gain P0 as a function of signal and noise in the sensor system data;
• generating an adapted gain, by tuning P0 as a function of the Ci;
• determining, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force, {circumflex over (Θ)}(0), and an initial projected range of signal bounds, (Pu and Pl);
• generating an adapted projection range of signal bounds, by constraining Pu and Pl by the Sn and range of mu;
• generating an adapted range of the estimated initial frictional force, {circumflex over (Θ)}(0), by widening the range of the estimated initial frictional force, {circumflex over (Θ)}(0), when the confidence level in the road surface condition is lower than a preprogrammed confidence threshold Ct;
• and
• outputting the adapted gain, adapted projection range of signal bounds, and adapted range of frictional force, when the confidence level in the road surface condition is lower than the preprogrammed confidence threshold Ct.

A vehicle, comprising:

• a road surface detection module configured to provide a road surface condition, Sn, a range of friction, mu, for the Sn, and a confidence level, Ci, of the Sn, Ci having a value between 0 and 1;
• a sensor system configured to provide sensor system data;
• and
• a controller module in operative communication with the road surface detection module and the sensor system, and programmed to:
• receive the sensor system data;
• determine an initial gain P0 as a function of signal and noise in the sensor system data;
• receive the Sn, the range of mu, and the Ci;
• generate an adapted gain, by tuning P0 as a function of the Ci;
• determine, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force, {circumflex over (Θ)}(0), and an initial projected range of signal bounds, (Pu and Pl);
• generate an adapted projection range of signal bounds, by constraining Pu and Pl by the Sn and range of mu;
• generate an adapted range of the estimated initial frictional force, {circumflex over (Θ)}(0) la widening the range of the estimated initial frictional force, {circumflex over (Θ)}(0), when the confidence level in the road surface condition is lower than a preprogrammed confidence threshold Ct;
• and
• output the adapted gain, adapted projection range of signal bounds, and adapted range of frictional force when the confidence level in the road surface condition is lower than the preprogrammed confidence threshold Ct.