A major performance of TCS is to guarantee the
maximum acceleration on the split-μ road, and to start
without additional steering input. The throttle angle
maximally increases when μ of the right road is 0.3,
snowy road, and μ of the left road is 0.1, icy road.
Without the controller, the lateral adhesion forces decrease
as the slip is generated in the driven wheels. If the driver
does not steer in this condition, the vehicle spins out to the
direction of low μ road and, then, leaves the course. But
the vehicle with the proposed controller tracks the course
as the controller imposes the additional brake pressure to
6
the right wheel