Page - 16 - in Maximum Tire-Road Friction Coefficient Estimation

1 Introduction on the results from the sensitivity analysis in Chapter 4. This part of the thesis con- tributes a novel method for estimating the friction potential using almost exclusively ESC sensors. Chapter 6 then compares the results of friction estimation using the non-linear ob- server proposed in Chapter 5 with real vehicle measurements. The conditions investi- gated includehighand low-frictionsurfaces, drivingandbrakingconditionsanddifferent longitudinal accelerations, as well asµ split andµ step conditions. Different strategies for re-initialising the particles used in the particle filter after convergence are also dis- cussed. Finally, Chapter 7 provides an overview of the main findings and a summary of the sections in this thesis. 16