Page - 52 - in Maximum Tire-Road Friction Coefficient Estimation

3 Vehicle model v W,fl δ fl α fl β ψ δ fr α fr v W,fr v α rr v W,rr v W,rl α rl xg yg Og Ob y b x b P Figure 3.6.: Kinematic quantities of two-track vehicle model including the four wheels’ lateral slip angles αi, wheel steering angle δi, and velocities vC,i, as well as the vehicle’s velocity v and the side slip angle β, based on Eichberger, [Eic11, p.147]; graphic depiction modified from Hirschberg, [Hir13, p.69]. the vehicle Iz and the wheels Ii, reads M=                mb 0 0 0 0 0 0 0 mb 0 0 0 0 0 0 0 Iz 0 0 0 0 0 0 0 Ifl 0 0 0 0 0 0 0 Ifr 0 0 0 0 0 0 0 Irl 0 0 0 0 0 0 0 Irr                . (3.7) 52