Seite - 144 - in Maximum Tire-Road Friction Coefficient Estimation

D Vehicle and tire model parameters Table D.4.: VehiclemodelparametersofAudi A4 Avant 1.8 Tfsi basedonmeasurements and the data sheet, [AG08] Parameter Symbol Value Unit Vehicle Mass mb 1796 kg Vehicle’s principal moment of inertia Iz 3006 kg m 2 (around z axis) Wheel base lwb 2.808 m Front track tf 1.564 m Rear track tr 1.551 m Distance centre of gravity to front axle lf 1.337 m Height of centre of gravity (from ground) hCG 0.549 m Height of instantaneous centre of hIC,θ 0.3 m the pitch movement Height of instantaneous centre of hIC,φ 0.1 m the roll movement Projected frontal area Ap 2.2 m 2 Drag coefficient cD 0.273 - Rolling torque stiffness (front axle) cS,f 68500 N/m Rolling torque stiffness (rear axle) cS,r 35780 N/m Wheel’s principal moment of inertia Ii 1 kg m 2 (around yC axis) 144