Brush tire model with increased flexibility

This article covers a method to make the description of the force-slip curve generated by the brush tire model more flexible. A calibration factor is applied to make the slope more or less convex. The main use is in car applications where road friction estimation is a major issue. If the real tire characteristic differs from the model there will be a bias in the estimation and a higher brake force is needed before a reliable friction coefficient can be estimated. Introduction of calibration parameters is a way to enhance the estimation, specially at lower brake forces.