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—The tire-road friction coefficient is critical information for conventional vehicle safety control systems. Most previous studies in tire-road friction estimation have only considered either longitudinal or lateral vehicle dynamics which tends to cause significant underestimation of the actual tire-road friction coefficient. In this paper, the parameters,(More)
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Abstract—This paper presents a method for ESC based on model predictive control (MPC) using the bicycle model with lagged tire force to reflect the lagged characteristics of lateral tire forces on(More)
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