Page - 141 - in Maximum Tire-Road Friction Coefficient Estimation

D. Vehicle and tire model parameters The tire and vehicle parameters presented in Tables D.1 and D.2 are valid for both the investigation of the model complexity in Section 3.1 and the initial validation of the vehicle model in Section 3. They have been validated in previous projects using a multi- body vehicle model (the same one used in Section 3.1 to select the model complexity) and by using measurement data from an Opel Combo 1.6 CNG, [Roj12, p.13-15]. The sensitivity analysis was conducted with validated parameters of an Audi A4 Avant 1.8 Tfsi that was also used for all measurements for the observer, as presented in Section 6. The tire and vehicle parameters of the Audi are presented in Tables D.3 and D.4. Table D.1.: TMsimple tire model parameters for a summer tire of type Radial 185/60 R15, as given by Rojas Rojas, [Roj12, p.203] Parameter Symbol Value Unit Fz,nom 2 ·Fz,nom Peak Ymax,x 2740 5480 N Saturation Y∞,x 2130 4350 Initial stiffness dY0,x 430 1100 N/% Peak Ymax,y 2720 4990 N Saturation Y∞,y 2600 4700 Initial stiffness dY0,y 51600 80200 N/rad Longitudinal spring stiffness cT,x 200000 N/mLateral spring stiffness cT,y 100000 Vertical spring stiffness cT,z 200000 Nominal tire load Fz,nom 2500 N Nominal friction potential µ0 1 - Rolling resistance coefficient fr 0.01 - Unloaded tire radius r0 0.3159 m