Wheel tire`s maximal friction coefficient evaluating method for motor vehicle, involves using sliding speed and internal variable by local observer for forming feedback loop assuring convergence of maximal friction coefficient

摘要

The method involves estimating sliding velocity of a tire of a vehicle, and measuring longitudinal and normal forces (Fx, Fz) applied to the tire by force sensors. An internal variable of the tire is calculated. The sliding speed and the internal variable are used by a local observer (102) for forming a feedback loop assuring convergence of maximal friction coefficient that is defined by mu max(t)=1/theta (t), where theta (t) is variable. An independent claim is also included for a device of evaluating optimum adhering coefficient.