Page - 86 - in Maximum Tire-Road Friction Coefficient Estimation

4 Sensitivity Analysis 0.6 0.8 1 1.2 0 5 10 15 0.6 0.8 1 1.2 0 5 10 15 0.6 0.8 1 1.2 0 10 20 30 40 -20 0 20 40 60 80 v x v y b w z w fl w fr w rl w rr b a x =-5, b a y =5 b a x =-3.5, b a y =5 b a x =-4, b a y =3 b a x =-5, b a y =1 0.6 0.8 1 1.2 0.6 0.8 1 1.2 0.6 0.8 1 1.2 b a x =-6.5, b a y =3 b a x =-7, b a y =1 -20 0 20 40 -20 0 20 40 60 80 µmax µmax Figure 4.15.: Normalised sensitivities for all state variables for selected acceleration data points in Region 5 (negative longitudinal and lateral excitation). Due to a numerical problem at all simulations ofµmax = 1 during combined braking and cornering, the normalised sensitivities have been interpolated in this Figure forµmax = 1. and rear axles have a similar tendency; only the absolute value differs in dependence on bax due to the set braking torque distribution. Figure 4.17 shows the case of 100 % brakingtorqueonthe frontaxle. Thebraketorque is controlledsuchthat thesame bax is reached as for the conventional braking system configuration. The tendency of the front wheels is comparable for both braking systems. Nevertheless, the absolute values of the 86