Page - (000015) - in Maximum Tire-Road Friction Coefficient Estimation

List of symbols Mathematical objects within this work are denoted as follows: a scalar, a vector, A matrix. When present, symbols in sub- and superscripts of a variable x are used in the form 1x 5 2,3,4. The numbers denote the position of the following optional assignments: 1 ... the coordinate system, eg. b for body 2 ... a description or distinction, eg. re for effective tire radius 3 ... a position, eg. C for wheel centre 4 ... an index, eg. x for longitudinal direction or i for the tire index 5... an exponent or an additional assignment, eg. xmax for the maximum value ofx Coordinate systems {Ob,xb,yb,zb} origin and Cartesian coordinate axes of vehicle-fixed coordinate system {Oi,xi,yi,zi} origin and Cartesian coordinate axes of i-th wheel-fixed horizonted coordinate system {Og,xg,yg,zg} origin and Cartesian coordinate axes of global coordinate system (inertial frame) Variables, parameters and constants2 a1(2) parameters of TMsimple tire model bax(y) acceleration in longitudinal (lateral) direction in vehicle-fixed coordinates 2SI units are used. Unless specifically noted otherwise, the unit rad was used for all angles.