1. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Comparison between the psedostatic solution of the LuGre dynamic model and the “magic formula” for a braking case

2. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Dynamic surface s̃

3. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Estimated velocity (v̂) and relative velocity (v̂r)

4. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Friction coefficient μ and braking pressure Pb(KPa)

5. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Braking acceleration

6. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Internal state (z, dashed), estimated internal state (ẑ, solid), and estimation error (z̃)

7. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Adapted parameters; underestimation case, reference value dashed

8. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Adapted parameters; non-underestimation case, reference value dashed

9. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Estimated of velocity (v̂) and relative velocity (v̂r); non-underestimation case

10. Date of download: 11/6/2017
Copyright © ASME. All rights reserved.
From: Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
J. Dyn. Sys., Meas., Control. 2004;127(1): doi: /
Figure Legend:
Dynamic surface s̃ with mass M changed 30% and Kb changed 10%