Development and Verification of the Tire/Road Friction Estimation Algorithm for Antilock Braking System

Table 2

Parameter List.

Variable	Value	Unit
Simulated vehicle model
	0.335	m
	1529	kg
	1.139	m
	1.637	m
	0.775	m
	9.8	m/s^2
	0.519	m
	4607.47	kg·m^2
	1	kg·m^2
Tested vehicle
	0.317	m
	1770	kg
	1.210	m
	1.340	m
	0.735	m
	9.8	m/s^2
	0.5	m
	4000	kg·m^2
	1	kg·m^2
Sliding mode control
	300	—
	2	—
	200	—
	0.05	s
Tire
	6 × 10^4	N
	6 × 10^4	N/rad
Forgetting factor
	0.9	—