. 2023 Jan 31;23(3):1540. doi: 10.3390/s23031540

Table 2.

Parameters used in algorithms for cornering assistance system.

Category	Parameter	Measure	Calculation/Estimation Method	Training Ranges
Characteristics of the vehicle	$R_{n}$	Geometric ratio	Provided (constant value)	[0.008; 0.061]
	$R_{f}$	Radius of front wheel [m]	Provided (constant value)	[0.085; 0.331]
	$R_{r}$	Radius of rear wheel [m]	Provided (constant value)	[0.084; 0.323]
Contact road-tire	$M l_{T i r e}$	Mileage record of the tire [Km]	Expressed as a ratio reflecting the state of wear of the wheel in relation to the mileage	[0.007; 0.995]
	$μ_{l a t}$	Friction coefficient of the Road	Estimated with ML method [7]	[0.003; 0.998]
	$P_{T i r e}$	Pressure [Bar]	Expressed as a ratio reflecting the state of pressure (date < 3 months)	[0.5; 1.4]
	$T i r e_{T y p e}$	Brand–width–Flank height–Tire structure–Diameter -load index–velocity index–Wet grip index [coding]	Provided (constant value codified as a decimal)	[0.003; 0.999]
Driver behavior	$T i m e$	Month/Day/Hour [coding]	Available information, Expressed as a ratio of Driving Time: Driver/Referent driver	[0.7; 0.99]
Driver behavior	$M l_{d r i v e r}$	Record of the driver [Km]	Expressed as a ratio of mileage: Driver/Referent driver	[0.5; 0.99]
Referent vehicle	$c_{p o s i t i o n}$	Radius (m)	Provided by GPS position	[0.01; 0.05]
	$T$	Temperature (°C)	Available information	Not considered
	$H$	Opto-electronic signal (mA)	Available information	Not considered
	$V i s$	weather visibility index	Available information	Not considered