Tire-Road Friction Coefficient Estimation of Sideslip-Camber Combined Situation

The tire-road friction coefficient (TRFC) plays a crucial role as a control signal in governing vehicle motion, particularly in electric vehicles equipped with low roll resistance tires. Research on TRFC estimation, considering slip angle, has gained significant popularity. However, the influence of camber angle is rarely taken into account. In this paper, the influence of camber on TRFC of sideslip situation is studied. Employing both finite element analysis and theoretical analysis methods, we propose an estimator for the TRFC in combined situation of sideslip and camber. The foundational elements include pure sideslip, pure camber, and tire lateral translational stiffness. The developed estimator is validated by comparing it with the test results. The results of the validation indicate that the suggested estimator can accurately obtain the TRFC in combined situation involving sideslip and camber.