Tire-road friction coefficient estimation based on normalized tire model

A tire-road friction coefficient estimation based on normalized tire model theory was developed to improve the estimation convergence speed and accuracy.Once the slip slope is estimated,the normalized tire model theory can be used to distinguish the different adhesion condition,and the maximum tire-road friction coefficient can be estimated using linear interpolation method.A RLS based data process method was included.The simulation results show that,this method can effectively reduce the convergence speed,and the estimation accuracy can be improved by 30%.