Page - 137 - in Maximum Tire-Road Friction Coefficient Estimation

C. Vehicle model structure for sensitivity analysis The structure of the dependencies between the state variables, the inputs and the inves- tigatedparametersof thevehiclemodelderived inSection4.1 ishelpful to solve theODE of the sensitivity system. The differential equations of the vehicle model in Equation 3.6 are extended by the differential state equations of the lateral tire forces in Equation 3.29. Table C.1.: Relation between state variables at the current time stepk and the previous time step k−1 in the vehicle model adapted for the sensitivity analysis State variables zk z˙k−1 v˙x x x x x x x x x x x x x x v˙y x x x x x x x x x x x x x bω˙z x x x x x x x x x x x x x ω˙fl x x x x x x ω˙fr x x x x x x ω˙rl x x x x x x ω˙rr x x x x x x F˙Dy,fl x x x x x x x F˙Dy,fr x x x x x x x F˙Dy,rl x x x x x x x F˙Dy,rr x x x x x x x