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

F vector of combined tire contact force FA aerodynamic force acting on vehicle FF friction force acting in contact plane FmaxF maximum friction force acting in contact plane FN normal force acting on contact plane Fz,nom nominal value of the vertical tire load FR tire’s rolling resistance force Fbx(y) basis value for longitudinal (lateral) tire forces Fx(y),i longitudinal (lateral) tire force on i-th tire in wheel-fixed coordinate system bFx(y),i longitudinal (lateral) tire force on i-th tire in vehicle-fixed coordinate system FDy,i dynamic lateral tire force for i-th tire ∆Fy,i mean relative deviation ofFy,i between reference simulation and parameter variation FW,x(y) longitudinal (lateral) wind force acting on vehicle Fz,i tire load (normal force) on i-th tire Fz,j vertical axle load (normal force) on j-th axle ∆Fz,φ,j tire load variation due to bay g gravitational acceleration G weight force of vehicle Gs weighting factor for combined tire forces h index of particles for particle filter hCG height of vehicle’s COG over road surface hIC,φ height of instantaneous centre of roll movement hIC,θ height of instantaneous centre of pitch movement i wheel index, i={fl,fr,rl,rr} Ii moment of inertia of i-th wheel around yi axis Iz moment of inertia of vehicle around zb axis ICR instantaneous centre of rotation j axle index, j={f,r} J Jacobian matrix of vehicle state k discrete time step k vector of gyroscopic and centrifugal forces acting on vehicle k|sx=0 initial slip slope (at sx= 0) Kx(y) longitudinal (lateral) parameter of TMsimple tire model xiii