Page - 83 - in Maximum Tire-Road Friction Coefficient Estimation

4 Sensitivity Analysis b a y =1 b a y =2 b a y =3 b a y =4 b a y =5 µmax µmax µmax µmax µmax µmax µmax b a y =6 b a y =7 0.2 0.6 1 -5 -4 -3 -2 -1 0 1 0.2 0.6 1 -5 -4 -3 -2 -1 0 1 0.2 0.6 1 -5 -4 -3 -2 -1 0 1 0.2 0.6 1 -5 -4 -3 -2 -1 0 1 0.2 0.6 1 -25 -20 -15 -10 -5 0 5 0.2 0.6 1 -100 -80 -60 -40 -20 0 20 0.2 0.6 1 -500 -400 -300 -200 -100 0 100 v x v y b w z w fl w fr w rl w rr Figure 4.13.: Normalised sensitivities for all state variables for selected acceleration data points in Region 3 (lateral excitation). Sensitivities for vx, vy and bωz are close to zero. Note: high longitudinal accelerations can only be achieved with highµmax, thus not allµmax are shown for all data points. 3 and 4 m/s2 are shown for longitudinal accelerations increasing from left to right. Although the absolute values of the sensitivities are several orders of magnitude higher, 83