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

Table 4

The statistic data of estimation results for threshold based ABS.

Actual friction coefficient	Estimation result
	Lag time/s	Means	Standard deviation
0.5 (mid-μ)	—	0.5571	0.0438
0.2 (low-μ)	0.136	0.1952	0.0149
0.8 (high-μ)	0.372	0.7773	0.0706