CN103112454B - 路面摩擦系数推算装置以及方法 - Google Patents

路面摩擦系数推算装置以及方法 Download PDF

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Publication number
CN103112454B
CN103112454B CN201210359140.9A CN201210359140A CN103112454B CN 103112454 B CN103112454 B CN 103112454B CN 201210359140 A CN201210359140 A CN 201210359140A CN 103112454 B CN103112454 B CN 103112454B
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China
Prior art keywords
angle
tire
friction coefficient
side slip
control force
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CN201210359140.9A
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English (en)
Chinese (zh)
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CN103112454A (zh
Inventor
河内达磨
狩集裕二
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JTEKT Corp
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JTEKT Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B60T2210/124—Roads with different friction levels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Power Steering Mechanism (AREA)
CN201210359140.9A 2011-09-26 2012-09-24 路面摩擦系数推算装置以及方法 Active CN103112454B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011-209295 2011-09-26
JP2011209295A JP5995040B2 (ja) 2011-09-26 2011-09-26 路面摩擦係数推定装置及び方法

Publications (2)

Publication Number Publication Date
CN103112454A CN103112454A (zh) 2013-05-22
CN103112454B true CN103112454B (zh) 2016-01-20

Family

ID=47008319

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210359140.9A Active CN103112454B (zh) 2011-09-26 2012-09-24 路面摩擦系数推算装置以及方法

Country Status (4)

Country Link
US (1) US9242625B2 (enExample)
EP (1) EP2572947B1 (enExample)
JP (1) JP5995040B2 (enExample)
CN (1) CN103112454B (enExample)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105083292B (zh) * 2015-09-10 2017-10-13 吉林大学 一种预估未知路面摩擦系数的方法
CN105334158B (zh) * 2015-11-28 2018-01-09 重庆交通大学 一种路面摩擦系数检测系统
US10011284B2 (en) 2016-07-13 2018-07-03 Mitsubishi Electric Research Laboratories, Inc. System and method for determining state of stiffness of tires of vehicle
EP3398825B1 (en) 2017-05-03 2020-03-11 Volvo Car Corporation Method and system for computing a road friction estimate
KR102373870B1 (ko) * 2017-09-27 2022-03-15 현대모비스 주식회사 전동식 조향장치의 노면상태 감지장치 및 그 제어방법
CN109029838B (zh) * 2018-04-30 2024-04-12 交通运输部公路科学研究所 用于横向摩擦力校准的恒拉力牵引装置
US11498613B2 (en) * 2019-02-14 2022-11-15 Steering Solutions Ip Holding Corporation Road friction coefficient estimation using steering system signals
KR20210070014A (ko) * 2019-12-04 2021-06-14 현대자동차주식회사 노면의 마찰계수 추정 장치 및 그 방법
EP4072918B1 (en) 2019-12-10 2025-08-20 Volvo Truck Corporation On-board road friction estimation
JP7247950B2 (ja) * 2020-04-30 2023-03-29 トヨタ自動車株式会社 車両用ステアリングシステム
WO2022218547A1 (en) * 2021-04-16 2022-10-20 Volvo Truck Corporation Method for in-motion friction estimation based on steering pulses, computer program, computer readable medium, control device and vehicle
IT202100020948A1 (it) * 2021-08-03 2023-02-03 Ferrari Spa Apparato e metodo per stimare un fattore di aderenza di una ruota di un veicolo stradale e relativo veicolo stradale
DE102021212792B3 (de) * 2021-11-15 2023-03-02 Magna Pt B.V. & Co. Kg Verfahren zur Ermittlung eines Fahrbahn-Reibwerts
CN114594045A (zh) * 2022-03-10 2022-06-07 重庆交通大学 路面摩擦性能连续式检测仪
WO2024228221A1 (en) * 2023-05-04 2024-11-07 Pirelli Tyre S.P.A. Method and system for estimating the interaction between tyre and road surface

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0312096A2 (en) * 1987-10-15 1989-04-19 Mazda Motor Corporation Friction detecting device for vehicles
CN101657345A (zh) * 2007-04-17 2010-02-24 日产自动车株式会社 用于估计车轮的接地面摩擦状态的装置和方法
DE102009022592A1 (de) * 2009-05-26 2010-12-02 Volkswagen Ag Verfahren zur Ermittlung des Fahrbahnreibwerts während des Betriebs eines Kraftfahrzeugs
EP2292490A1 (en) * 2008-06-30 2011-03-09 Nissan Motor Co., Ltd. Road surface friction coefficient estimating device and road surface friction coefficient estimating method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002331951A (ja) * 2001-05-09 2002-11-19 Toyota Central Res & Dev Lab Inc 路面摩擦係数推定装置
JP4397760B2 (ja) 2004-08-20 2010-01-13 本田技研工業株式会社 路面摩擦係数の推定方法
JP2008126985A (ja) 2006-11-27 2008-06-05 Nissan Motor Co Ltd 車両用操舵制御装置
US8078351B2 (en) * 2008-11-24 2011-12-13 GM Global Technology Operations LLC Estimation of surface lateral coefficient of friction

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0312096A2 (en) * 1987-10-15 1989-04-19 Mazda Motor Corporation Friction detecting device for vehicles
CN101657345A (zh) * 2007-04-17 2010-02-24 日产自动车株式会社 用于估计车轮的接地面摩擦状态的装置和方法
EP2292490A1 (en) * 2008-06-30 2011-03-09 Nissan Motor Co., Ltd. Road surface friction coefficient estimating device and road surface friction coefficient estimating method
DE102009022592A1 (de) * 2009-05-26 2010-12-02 Volkswagen Ag Verfahren zur Ermittlung des Fahrbahnreibwerts während des Betriebs eines Kraftfahrzeugs

Also Published As

Publication number Publication date
US9242625B2 (en) 2016-01-26
EP2572947A1 (en) 2013-03-27
US20130074576A1 (en) 2013-03-28
JP2013067354A (ja) 2013-04-18
JP5995040B2 (ja) 2016-09-21
CN103112454A (zh) 2013-05-22
EP2572947B1 (en) 2016-10-26

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