Knowledge of tire-road friction characteristics is essential for the proper performance of\nmost relevant vehicle active safety systems. Therefore, its determination is necessary to improve the\neffectiveness of these systems and to avoid or reduce the consequences of traffic accidents. For this\nreason, there is a great deal of literature concerning methods and devices for measuring and modeling\ntire-road friction. Most of these methods have focused on determining the road friction resistance,\ntaking only road composition and making measurements in wet conditions into account. However,\nfriction forces are also dependent on the tire type, since the contact is established between the tire and\nthe road in real driving conditions. Thus, the type and characteristics of the tire have to be considered\nin the study of the interaction between the vehicle and the road. The aim of this work is to unify\nthe study of the friction coefficient, taking into consideration the two existing bodies involved in the\ncontact, i.e., the tire and road and the main factors that influence the forces in the contact. To this\nend, a modification of the Pacejka Magic Formula is proposed to include the effects of the main\nparameters that influence the contact, such as road composition and its state, tire type, vehicle speed,\nand slip between the tire and the road. To do so, real tests have been conducted on several roads\nand with different operating conditions. As a result, a more accurate tire-road friction model has\nbeen obtained.
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