“…Any road condition change, from dry asphalt or even concrete to ice transition, influences the parameters of the sliding friction function and is a very important parameter in wheel lockup and vehicle skidding (Bartlett & Wright, 2010;Flintsch, McGhee, de León Izeppi, & Najafi, 2012;Goudie, Bowler, Brown, Heinrichs, & Siegmund, 2000;Hall et al, 2009;Henry, 2000). The relation between the vertical and horizontal tire forces is also very important because it is the resistance of the road surface to skidding or sliding of a vehicle (Asi, 2007;Deur, Asgari, & Hrovat, 2004;Noyce, Bahia, Yambo, & Kim, 2005;Ray, 1997).…”