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

µ coefficient of friction between tire and road µ̂ friction potential estimate ∆µ tolerable deviation of friction potential estimate µ0 nominal coefficient of friction in tire test bench measurements µmax friction potential (Maximum coefficient of friction between tire and road) µref reference (real) value of the friction potential µD demanded coefficient of friction between tire and road µmaxG combined friction potential on vehicle level (global) µmaxG,x(y) friction potential on vehicle level (global) in longitudinal (lateral) direction µL,x(y) local coefficient of friction in longitudinal (lateral) direction µS safety margin (Difference betweenµ max andµD) µx(y) coefficient of friction in longitudinal (lateral) direction between tire and road σz local normal stress in tire contact patch τ time function for lateral tire dynamics τM tolerable time delay of friction potential estimate τx(y) local shear stress in contact patch in longitudinal (lateral) direction τmaxx(y) maximum local shear stress in contact patch in longitudinal (lateral) direction ωi rotational speed of i-th wheel ω¯i normalised speed of i-th wheel bωx vehicle body rotational speed aroundxb axis bωy vehicle body rotational speed around yb axis bωz vehicle body rotational speed around zb axis ω¯z normalised vehicle rotational speed aroundxb axis ∆ωz mean relative deviation of bωz ρa air density xvii