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The friction estimation at the tire-ground contact is crucial for the active safety of vehicles. Friction estimation is a key problem of vehicle dynamics and the ultimate solution is still unknown. However the proposed approach, based on a simple idea and on a simple hardware, provides an actual solution. The idea is to compare the tire characteristic at a given friction (nominal characteristic) with the actual characteristic that the tire has while running. The comparison among these two characteristics (the nominal one and the actual one) gives the desired friction coefficient. The friction coefficient is expressed in vector form and a number of running parameters are identified. The mentioned comparison is an efficient but complex algorithm based on a mathematical formulation of the tire characteristic. The actual tire characteristic is somehow measured in real time by a relatively simple smart wheel which is able to detect the three forces and the three moments acting at the hub.

This paper aims to contribute to the development of an electronic stability control for narrow, fully tiling vehicles with handling and stability characteristics similar to motorcycles, and to improve the understanding of the driver-vehicle interaction. To allow for high energy efficiency of the control system, mainly steering torque is applied to stabilize and tilt the vehicle. The dynamic properties of the specific investigated vehicle suggest high demands to a driver without an appropriate control system. To allow for automobile-like operation of the steering wheel, the motion of the steering wheel and the steering system of the front wheel has been decoupled, and a steer-by-wire system has been developed. Both simulations and field tests with a prototype proved proper performance of the electronic stability control, but also revealed the need of an automobile driver to adapt to this kind of vehicle when operating it even with the control system.