. 2015 Dec 19;15(12):32056–32078. doi: 10.3390/s151229908

Table 3.

Slip definition.

	Braking $(v_{R} \cos α \leq v_{w})$	Traction $(v_{R} \cos α > v_{w})$
Longitudinal slip, S_L	$s_{L} = \frac{v_{R} \cdot \cos α - v_{w}}{v_{w}}$	$s_{L} = \frac{v_{R} \cdot \cos α - v_{w}}{v_{R} \cdot \cos α}$
Lateral slip, S_S	$s_{S} = \frac{v_{R} \cdot \sin α}{v_{w}}$	$s_{S} = \tan α$