Road-Feature-Based Multiparameter Road Complexity Calculation Model of Off-Road Environment

Table 1

Average adhesion coefficient on various road surfaces.

Road surfaces	Peak adhesion coefficient	Sliding adhesion coefficient
Asphalt or concrete road (dry)	0.8~0.9	0.75
Asphalt road (wet)	0.5~0.7	0.45~0.60
Concrete road (wet)	0.8	0.7
Gravel road	0.6	0.55
Dirt road (dry)	0.68	0.65
Dirt road (wet)	0.55	0.4~0.5
Snowy road	0.2	0.15
Ice road	0.1	0.07