Tyre-road friction coefficient is hard to detect while it is important for vehicle control systems, especially the vehicle active safety control systems. This paper presents a maximum aligning moment method which requires no additional sensors if the vehicle is equipped with an electric power steering (EPS) system. A non-linear observer method is designed for the estimation of friction coefficient as well as the continual estimation of tyre slip angles. One combined estimation method is proposed to compensate for the drawbacks of the two methods above. These estimation methods are verified by computer simulations with experimental results in various conditions.
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Li et al. (2012) studied this question.
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