Tire-Road Friction-Coefficient Estimation

Tire-road forces are crucial in vehicle dynamics and control because they are the only forces that a vehicle experiences from the ground. These forces significantly affect the lateral, longitudinal, yaw, and roll behavior of the vehicle. The maximum force that a tire can supply is determined by the maximum value of the tire-road friction coefficient for a given normal vertical load on the tire. For each tire, the normalized traction force p, alternatively called the coefficient of traction, is defined as VfI + F (1) where Fχ, Fψ and Fζ are the longitudinal, lateral, and normal, that is, vertical, forces acting on the tire. The objective of friction-coefficient estimation is to predict the maximum value of the normalized traction force p that each tire can provide. This value, which is called the tire-road friction coefficient μ, depends on the characteristics of the road surface. The value of μ varies between zero and one depending on the type of road surface under consideration, such as icy, snow covered, gravel, and dry asphalt.

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