Page - 79 - in Maximum Tire-Road Friction Coefficient Estimation

4 Sensitivity Analysis -1 -0.8 -0.6 -0.4 -0.2 0 10 15 20 25 30 35 40 45 50 0 0.02 0.04 0.06 Time in s µmax=0.5 µmax=1 Figure 4.9.: Lateralvelocityvy andyawrate bωzversustimefortwodifferentµ max during the simulatedmanoeuvres. Themaximumvalue for bay forbothsimulations was 4 m/s2. In the case of bωz, the two different characteristics can barely be distinguished. -10 -5 0 5 0 1 2 3 4 5 6 7 8 b a x in m/s2 simulated analysed shown 1. 2. 3. 4. 5. Figure 4.10.: Parameter space of simulated driving states (black lines), i.e. horizontal chassis accelerations at the vehicle’s COG, and the classification into five driving state regions (gray areas). Black dots show all the data points that were analysed, and gray asterisks show the selected data points that are discussed in detail in Figures 4.11 to 4.15. It is assumed that the vehicle behaviour is similar for positive and negative lateral acceleration bay (i.e. right and left turn). 79