Page - XII - in Maximum Tire-Road Friction Coefficient Estimation

ba max x(y) maximum value of bax(y) ba min x minimum value of bax(y) (deceleration) ∆ay mean relative deviation of bay Ae effective area for friction-locking mechanism in contact patch Ap projected frontal area of the vehicle Ax(y) longitudinal (lateral) parameter of TMsimple tire model b1(2) parameters of TMsimple tire model Bx(y) longitudinal (lateral) parameter of TMsimple tire model c sensitivity parameter ∆c variation of sensitivity parameter c1(2) parameters of TMsimple tire model cARB,j stiffness of anti-roll bar (ARB) of j-th axle cD air drag coefficient cL light speed cS,i spring stiffness of j-th axle ctot,j total spring stiffness of j-th axle cT,x(y) linear longitudinal (lateral) stiffness of the tire cT,z linear vertical stiffness of the tire C wheel centre according to ISO 8855, [fSI11] d(t) disturbance vector as a function of time t dM measurement range of vehicle-fixed environmental sensor dW warning distance between vehicle and obstacle dy lateral tire damping coefficient dY0 initial stiffness of tire characteristics f index of vehicle’s front axle f0 radar sensor frequency fc vector with partial derivatives of fl to parameter c fl index of front left wheel fl right-hand side of equation for y˙l fr index of front right wheel fr,i rolling resistance coefficient of i-th tire fs scaling factor for manoeuvre control F magnitude of combined tire contact forces xii