Estimating method for rating a friction coefficient between a road and a motor vehicle's tires uses the friction coefficient to enlarge a Kalman filter by the friction coefficient

摘要

Front (lf) and rear (lr) wheel clearance equals the clearance between the front (22) and rear (21) wheels and a motor vehicle's mass center of gravity (CG). Front (alpha f) and rear (alpha r) slippage angle indicates the angle between front and rear wheel axles and their direction of movement. An independent claim is also included for a control device for a motor vehicle with an estimator.