Research Article
Development and Verification of the Tire/Road Friction Estimation Algorithm for Antilock Braking System
| Variable | Value | Unit |
| Simulated vehicle model | | | | 0.335 | m | | 1529 | kg | | 1.139 | m | | 1.637 | m | | 0.775 | m | | 9.8 | m/s2 | | 0.519 | m | | 4607.47 | kg·m2 | | 1 | kg·m2 | Tested vehicle | | | | 0.317 | m | | 1770 | kg | | 1.210 | m | | 1.340 | m | | 0.735 | m | | 9.8 | m/s2 | | 0.5 | m | | 4000 | kg·m2 | | 1 |
kg·m2 | Sliding mode control | | | | 300 | — | | 2 | — | | 200 | — | | 0.05 | s | Tire | | | | 6 × 104 | N | | 6 × 104 | N/rad | Forgetting factor | | | | 0.9 | — |
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