Research on Direct Braking Force Estimation and Control Strategy Using Tire Inverse Model

Table 2

Magic formula parameters of different roads.

Road	Snow	Cobblestone (wet)	Asphalt-wet	Cobblestone (dry)	Concrete (dry)	Asphalt (dry)
	0.20	0.40	0.80	0.85	0.37	1.10
	1.45	1.45	1.60	1.40	1.64	1.55
	17.43	14.02	15.63	10.09	13.42	13.42
	0.65	0.60	0.45	0.64	0.53	0.53