Page - 121 - in Maximum Tire-Road Friction Coefficient Estimation

6 Results and conclusion Time in s 6.5 7 7.5 8 8.5 9 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 9.5 Figure 6.14.: Longitudinal acceleration bax during braking manoeuvre onµ split condi- tions with a maximum deceleration bax≈ -3 m/s2. The manoeuvre was started at vx= 30 km/h and ended at 10 km/h. 6.5 7 7.5 8 8.5 9 9.5 0 0.2 0.4 0.6 0.8 1 Reference µmax(fixed particles), no resampling µmax(sampled particles), SD limited µmax(sampled particles), ∆µmax limitedˆˆ ˆ ˆ Time in s Figure 6.15.: Estimates of µmax using fixed particles (black dotted), variable particles re-initialised based on SD (light gray) or variable particles re-initialised based on ∆µˆmax (dark gray) versus time during a braking manoeuvre with a maximum deceleration of≈−3 m/s2. Aµ split manoeuvre is performed. The result for the rear right wheel is displayed, which was located on a high-friction surface (µmax≈ 1). 121