“…However, these visual information-based methods are susceptible to light. In addition, scholars make the best use of different vehicle dynamics models [ 29 , 30 , 31 , 32 , 33 , 34 ] and various kinds of filters [ 35 , 36 , 37 , 38 ] to estimate the adhesion coefficient. For example, the vehicle dynamic model, the tire model, and the wheel model were introduced into the unscented Kalman filter to accurately identify the adhesion coefficient of roads in reference [ 36 ].…”