In automobile, it is difficult to estimate the friction coefficient between tire and road. But, if real-time maximum traction force between tire and road is estimated, acceleration, braking and cornering can be stable. So, recently research for real-time estimation of friction between tire and road is performed. Almost research needed tire tread stiffness and contact length between tire and road. But in this research, tire tread stiffness and contact length between tire and road is obtained from traction force and self-aligning moment which delivered from road to tire. By the algorithm in this thesis, just needed information to estimate friction coefficient between tire and road is lateral, longitudinal, vertical force, self-aligning moment which delivered from road to tire and rotational speeds of all wheels.
Isotropic tire brush model is used to obtain equations of traction force and self-aligning moment which delivered from road to tire.
Validation was performed using Goodyear tire data and Magic formula tire model in ADAMS/Car. Estimation of friction between tire and road using estimated tire tread stiffness and contact length between tire and road is comparably correct.
