Tire-Road Friction-Coefficient Estimation

Tire-road forces are crucial in vehicle dynamics and control because they are the only forces that a vehicle experiences from the ground. These forces significantly affect the lateral, longitudinal, yaw, and roll behavior of the vehicle. The maximum force that a tire can supply is determined by the maximum value of the tire-road friction coefficient for a given normal vertical load on the tire. For each tire, the normalized traction force
$\rho$
, alternatively called the coefficient of traction, is defined as