We present new development of a hybrid physical/dynamic tire/road friction model for real-time friction estimation and control. We extend the LuGre tire/road friction model by considering the physical model-based deformation distribution on the tire/road contact patch. Relationship between the physical friction model and the LuGre dynamic friction model has been built and developed. We have shown that the LuGre dynamic friction model predicts the similar deformation and stress characteristics of the physical model, and therefore the friction model parameters can be interpreted with physical meaning and estimated experimentally. We demonstrate preliminary model comparison study through the “smart tire” sensor measurements on a mobile robot platform.

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