image (2.64)

Fy,max=μyp·Fz (2.65)

image (2.65)

Clearly, the peak friction coefficients are related to the road friction, with lower road friction leading to a proportional decrease of μxp and μyp. This suggests that the envelope of the general normalized shear force under combined slip between tire and road is a closed curve, with a maximum value μxp along the x-axis (pure slip in longitudinal direction) and a maximum value μyp along the y-axis (pure slip in lateral direction). In general, the drive force will be smaller than the brake force because ...

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