Abstract
One of the most challenging aspects of vehicle dynamics is accurate modelling of the tyre-road interface. Forces between the tyre and road need to be accurately represented in simulation. This is challenging over rough roads since the friction changes along the road due to large surface asperities.The Heinrich/Klüppel friction coefficient estimation model has been implemented on smooth roads in the past. However, this study investigates the applicability of using this model over a rough but hard terrain, such as Belgian paving or cobblestones. The model is based on physical properties that can be determined mathematically or experimentally. The study includes detailed terrain topography and the difference between the top and bottom topography is used to determine the radially averaged PSD. Emphasis is placed on finding and implementing the flash temperature in a practical manner that could also be used in further studies.An experimental setup is built to validate the model. The experimental friction coefficient is compared to the friction coefficient calculated using the Heinrich/Klüppel model. The relative percentage error difference between experimental and friction model results is found to be less than 10% on a smooth concrete road and 20% on a rough road (concrete Belgian paving).
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