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

∆w mean relative deviation ofw between reference simulation and parameter variation x(k) state vector at discrete time step k xˆ(k) estimate of state vector at discrete time step k xR,y lateral relaxation length of tire X slip quantity (longitudinal or lateral) gy position vector of vehicle’s COG in global coordinate system ye lateral tire deflection Y tire force quantity (longitudinal or lateral) Y1(2) parameters of TMsimple tire model Ymax peak value of tire characteristics Y∞ saturation value of tire characteristics bz state vector of vehicle in vehicle-fixed coordinate system ∆z vertical deflection of tire zb,i body-fixed vertical coordinate in quarter vehicle model zi vertical displacement of i-th wheel zl state variable of vehicle with index l ∆zS,i spring deflection of i-th wheel zR,i road-fixed vertical coordinate αi lateral slip angle at i-th wheel contact pointW 3 β side slip angle in vehicle’s COG ∆β additional side slip angle at bay>0 ∆βmax maximum value of ∆β ∆β mean relative deviation ofβ β0 side slip angle at |bay|→0 βmax0 maximum value ofβ0 βr slope of road profile βs combined tire force angle δi wheel steering angle of i-th wheel δS steering wheel angle ∆δS mean relative deviation of δS ∆φw phase shift betweenw ref andwvar ψ yaw angle of vehicle in global coordinate system 3cf. Figure 2.2 xvi