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

l index for state variables lf distance from vehicle’s COG to front axle lr distance from vehicle’s COG to rear axle lwb vehicle’s wheel base L length of contact patch in longitudinal direction m index for sensitivity parameters mb vehicle mass mw wheel mass M mass and inertia matrix of vehicle MD,i driving and braking torque of i-th wheel Meng engine torque MR,i rolling resistance torque of i-th wheel n number of elements in state variable vector z N number of particles with indexh Nk number of discrete time steps o number of elements in sensitivity parameter vector c p sensitivity vector pB braking pressure pl sensitivity variable with index l pj percentage of yaw moment supported by j-th axle pv,x sensitivity of vxwith respect toµ max pv,y sensitivity of vy with respect toµ max pβ sensitivity ofβwith respect toµ max q vector of vehicle’s applied forces qh relative measurement likelihood function r index of vehicle’s rear axle r0 unloaded tire radius re,i effective tire radius (e.g. dynamic tire radius) of i-th wheel rl index of rear left wheel rr,i reference effective tire radius of i-th wheel rS static tire radius rr index of rear right wheel rx(y),i longitudinal (lateral) distance fromOb to the i-th wheel centreC xiv