Development and Verification of the Tire/Road Friction Estimation Algorithm for Antilock Braking System

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left">Distance travelled <svg height="11.9171pt" id="M119" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 20.0901 11.9171" width="20.0901pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z" id="g113-109"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="269" vert-adv-y="269"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,3.646,0)"><path d="M368 703H309L44 -163H104L368 703Z" id="g113-48"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="412" vert-adv-y="412"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,9.233,0)"><path d="M766 88L752 113C719 83 690 64 681 64C674 64 672 74 679 103L724 292C758 436 724 448 701 448C680 448 666 442 639 429C594 407 514 350 441 252H439L447 289C476 423 450 448 419 448C398 448 379 441 355 427C307 400 234 344 162 249H160L180 324C203 409 197 448 170 448C144 448 82 413 23 349L35 321C57 343 96 374 108 374C115 374 117 371 111 341C87 227 57 112 24 -6L32 -12C53 -4 81 4 108 6C119 68 134 128 149 171C177 229 309 383 364 383C387 383 388 355 373 282C354 190 330 92 303 -6L309 -12C332 -4 356 3 386 6C396 63 411 122 424 171C458 236 590 383 642 383C658 383 664 369 652 315L603 91C587 20 593 -12 619 -12C642 -12 708 23 766 88Z" id="g113-110"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="789" vert-adv-y="789"></glyph.data></g></svg></td><td align="center">0~50</td><td align="center">50~100</td><td align="center">&gt;100</td></tr><tr><td align="left">Road friction coefficient <i><i>μ</i></i></td><td align="center">0.5</td><td align="center">0.2</td><td align="center">0.8</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Tire-road friction coefficient for simulation.

Mathematical Problems in Engineering

tab1

Table 1

Table 1: Development and Verification of the Tire/Road Friction Estimation Algorithm for Antilock Braking System 