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Monitoring Tire-Road Friction using Connected Vehicle Data
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Fluid and Experimental Mechanics.ORCID iD: 0000-0001-5012-0009
2025 (English)Doctoral thesis, comprehensive summary (Other academic)Alternative title
Uppföljning av friktion med hjälp av uppkopplade fordon (Swedish)
Abstract [en]

One in five serious or fatal road traffic accidents occur under severe weather conditions. Despite notable improvements in traffic safety, the Vision Zero approach of shared responsibility for eliminating fatalities and serious injuries remains a global challenge. As the vehicle fleet becomes increasingly connected and automated, vast amounts of data are generated for every kilometer traveled, data that can be used to enhance road safety. One promising application is the monitoring of tire–road friction to improve understanding of road surface conditions and the interaction between tire and road. Since 2018, the Swedish Transport Administration has obtained connected vehicle data, sometimes referred to as floating car data (FCD) or probed vehicle data, to follow up on tire-road friction. The focus of the administration has been on how connected vehicle data can be applied to support and improve winter road maintenance on Sweden’s public road network. Within the Digital Vinter project, connected vehicle data have been validated and analyzed alongside conventional tire-road friction estimation methods and in relation to Road Weather Information Systems (RWIS) and Mobile Reporting of Ploughing (MIP). Some of the results from the Digital Vinter project are presented within this thesis.

The thesis comprises seven papers: three journal articles and four peer-reviewed conference papers. Paper A demonstrates the proof of concept, investigating temporal and spatial coverage in relation to AADT and showing that three independent suppliers exhibit strong correlations, partly validating one another. Paper F continues this theme by analyzing coverage across different operational areas with varied road types and traffic intensities, as well as seasonal behavior. Together, these papers highlight the importance of understanding data characteristics for correct interpretation. Paper C compares two suppliers using confusion matrices and shows that, for one-hour measurements on the same 550-m road segments, friction estimates exhibit correlations of 85–93% during winter.

Paper E analyzes connected vehicle friction data in relation to RWIS and MIP. The results show that connected vehicles capture friction changes before, during, and after snowfall in near real time. The paper also discusses the potential of integrating these data into maintenance decision-support systems through machine learning.

Several field tests were also conducted. The first occurred in Björli, Norway (2020; Paper B), where three suppliers participated with individual vehicles, compared against a RoAR MK6 reference device. Paper G presents a similar test in Kiruna, Sweden (2024), involving two suppliers with two vehicles each, analyzed together with cloud-based fleet data and reference systems such as ViaFriction and Coralba-µ. In both campaigns, all vehicles and systems detected high and low friction on both homogeneous (proving ground) and inhomogeneous (public road) surfaces. Papers B and G show that conventional continuous systems such as ViaFriction generally report friction values 0.05–0.10 lower than connected vehicle fleets, although both capture the same relative fluctuations. This difference can be partly explained by tire type: connected vehicles used standard winter tires, while ViaFriction devices used stiff aircraft tires (Trelleborg T520).

Additional fleet-based validation was performed in Luleå (2021; Paper D), showing that even with a consistent offset, 80% of connected vehicle friction estimates aligned with conventional measurements within ±0.05. As noted in Paper B, conventional systems may intentionally report lower friction to maintain a safety margin for winter maintenance. However, if thresholds are set too conservatively, there is a risk of excessive maintenance, unnecessary cost, and increased environmental impact. Such offsets also pose challenges when fusing multiple sources of tire–road friction information, as inconsistent baselines can distort aggregated results.

Finally, the thesis proposes an initial aggregation and implementation framework for operational use of connected vehicle data in winter road maintenance. This includes hourly road-segment aggregation based on confidence levels and road-section summaries for performance follow-up. These methods, developed from the insights gained across all papers, provide a first foundation for large-scale monitoring of tire–road friction across the Swedish public road network.

Place, publisher, year, edition, pages
Luleå University of Technology, 2025.
Series
Doctoral thesis / Luleå University of Technology 1 jan 1997 → …, ISSN 1402-1544
Keywords [en]
Connected Vehicle Data, Floating Car Data, Winter Road Maintenance, Tire-Road Friction, Road Safety, Vision Zero, Intelligent Transport Systems
National Category
Transport Systems and Logistics
Research subject
Experimental Mechanics
Identifiers
URN: urn:nbn:se:ltu:diva-115023ISBN: 978-91-8048-915-7 (print)ISBN: 978-91-8048-916-4 (electronic)OAI: oai:DiVA.org:ltu-115023DiVA, id: diva2:2004188
Public defence
2025-12-16, E632, Luleå University of Technology, Luleå, 09:00 (English)
Opponent
Supervisors
Funder
Swedish Transport AdministrationAvailable from: 2025-10-07 Created: 2025-10-06 Last updated: 2025-11-25Bibliographically approved
List of papers
1. Large‐scale implementation of floating car data monitoring road friction
Open this publication in new window or tab >>Large‐scale implementation of floating car data monitoring road friction
2021 (English)In: IET Intelligent Transport Systems, ISSN 1751-956X, E-ISSN 1751-9578, Vol. 15, no 6, p. 727-739Article in journal (Refereed) Published
Abstract [en]

In Sweden today, friction measurements are performed manually, often using methods generating spot‐wise measurements. Because the low numbers of measurements provided by these methods are insufficient to follow up on the friction requirements set by the Swedish Transport Administration, the Administration has initiated the Digital Winter project. In Digital Winter, floating car data (FCD) are utilised for road friction estimation. The focus in this investigation is on coverage, and on whether the FCD detects harsh weather conditions with decreasing road friction. Two different methods—one continuous and one slip‐based—are implemented in this investigation. Furthermore, different approaches on how to build the vehicle fleet to collect the FCD have been applied using different combinations of commercial and private vehicles. The results showed that both methods detect low‐friction events, and for roads with high annual average daily traffic (AADT), the data collection using slip‐based methods and larger fleets gives more data points than for smaller fleets using continuous methods, and the reverse is true for lower AADT. The results showed differences between the two fleets in terms of coverage for the weekly and daily distributions, but overall, the method of using FCD for road friction estimation seems promising for the follow‐up of winter road maintenance.

Place, publisher, year, edition, pages
John Wiley & Sons, 2021
National Category
Transport Systems and Logistics
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-83430 (URN)10.1049/itr2.12039 (DOI)000631866000001 ()2-s2.0-85102922197 (Scopus ID)
Funder
Swedish Transport Administration
Note

Validerad;2021;Nivå 2;2021-05-17 (johcin)

Available from: 2021-03-29 Created: 2021-03-29 Last updated: 2025-10-21Bibliographically approved
2. Comparison of methods for winter road friction estimation using systems implemented for floating car data
Open this publication in new window or tab >>Comparison of methods for winter road friction estimation using systems implemented for floating car data
2023 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, E-ISSN 1745-6444, Vol. 17, no 2, p. 101-111Article in journal (Refereed) Published
Abstract [en]

Winter road maintenance is important for preventing accidents and enabling mobility. If the road friction gets low, there is a higher risk of road accidents. Therefore, it is vital to have information about road friction levels. Traditionally this is done by dedicated vehicles; however, using friction information from floating car data (FCD) would be more beneficial, as the coverage both in time and space increases. In this investigation, road friction data from three FCD suppliers, using only one test vehicle each, has been compared with a continuous method of road friction measurement. The test has been conducted on proving grounds covered with ice and snow, and on public roads covered with water, ice, snow, and slush; thereby both high friction and low friction surfaces have been evaluated. The investigation shows that the FCD provides a continuous method of friction measurement and is closer to the reality of road friction experienced by road users.

Place, publisher, year, edition, pages
InderScience Publishers, 2023
Keywords
road friction, friction estimation, winter road maintenance, vehicle data, optical sensor, floating car data, FCD, big data, experimental validation, vehicle testing
National Category
Applied Mechanics
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-93418 (URN)10.1504/IJVSMT.2023.132935 (DOI)2-s2.0-85170229688 (Scopus ID)
Note

Validerad;2023;Nivå 1;2023-09-04 (joosat);

This article has previously appeared as a manuscript in a thesis.

Available from: 2022-10-05 Created: 2022-10-05 Last updated: 2025-10-21Bibliographically approved
3. Fusion of connected vehicle data from multiple suppliers estimating tire-road friction
Open this publication in new window or tab >>Fusion of connected vehicle data from multiple suppliers estimating tire-road friction
(English)Manuscript (preprint) (Other academic)
National Category
Mathematical sciences
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-114973 (URN)
Funder
Swedish Transport Administration
Available from: 2025-10-02 Created: 2025-10-02 Last updated: 2025-10-21Bibliographically approved
4. Friction information from floating car data
Open this publication in new window or tab >>Friction information from floating car data
2022 (English)Conference paper, Published paper (Refereed)
National Category
Transport Systems and Logistics Vehicle and Aerospace Engineering
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-89888 (URN)
Conference
PIARC XVI World Winter Service and Road Resilience Congress, Calgary, Canada, February 7-11, 2022
Available from: 2022-03-25 Created: 2022-03-25 Last updated: 2025-10-21Bibliographically approved
5. Correlation between floating car data and road weather information implemented for winter road maintenance follow-up by monitoring the road friction
Open this publication in new window or tab >>Correlation between floating car data and road weather information implemented for winter road maintenance follow-up by monitoring the road friction
2023 (English)Conference paper, Oral presentation only (Refereed)
National Category
Infrastructure Engineering
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-97594 (URN)
Conference
International Conference on Road Weather and Winter Maintenance, Washington D.C., USA, May 9-10, 2023
Projects
Digital Vinter
Funder
Swedish Transport Administration
Available from: 2023-05-25 Created: 2023-05-25 Last updated: 2025-11-20Bibliographically approved
6. Comparing floating car data regarding tire-to-road friction for different-sized operational areas during winter- and summertime in Sweden
Open this publication in new window or tab >>Comparing floating car data regarding tire-to-road friction for different-sized operational areas during winter- and summertime in Sweden
2023 (English)In: Pre-proceedings Prague 2023, 2023Conference paper, Published paper (Refereed)
National Category
Transport Systems and Logistics Infrastructure Engineering
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-102302 (URN)
Conference
XXVIIth World Road Congress (WRC 2023), Prague, Czech Republic, October 2-6, 2023
Available from: 2023-11-06 Created: 2023-11-06 Last updated: 2025-10-21
7. Evaluating suppliers of connected vehicle data for follow-up tire-road friction wintertime – A field test
Open this publication in new window or tab >>Evaluating suppliers of connected vehicle data for follow-up tire-road friction wintertime – A field test
(English)Manuscript (preprint) (Other academic)
National Category
Engineering and Technology
Research subject
Experimental Mechanics
Identifiers
urn:nbn:se:ltu:diva-114974 (URN)
Funder
Swedish Transport Administration
Available from: 2025-10-02 Created: 2025-10-02 Last updated: 2025-10-21

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