CN104554274B - 道路摩擦估计系统与方法 - Google Patents
道路摩擦估计系统与方法 Download PDFInfo
- Publication number
- CN104554274B CN104554274B CN201410572843.9A CN201410572843A CN104554274B CN 104554274 B CN104554274 B CN 104554274B CN 201410572843 A CN201410572843 A CN 201410572843A CN 104554274 B CN104554274 B CN 104554274B
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- Prior art keywords
- tire
- estimation
- friction coefficient
- vehicle
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000000034 method Methods 0.000 title claims abstract description 34
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Classifications
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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
- 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
- B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
-
- 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
- B60T2210/122—Friction using fuzzy logic, neural computing
-
- 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
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tyre behaviour; counteracting thereof
- B60T2240/04—Tyre deformation
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tyre behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/86—Optimizing braking by using ESP vehicle or tyre model
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Tires In General (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/061,793 US8983749B1 (en) | 2013-10-24 | 2013-10-24 | Road friction estimation system and method |
| US14/061793 | 2013-10-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104554274A CN104554274A (zh) | 2015-04-29 |
| CN104554274B true CN104554274B (zh) | 2017-12-12 |
Family
ID=51868758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410572843.9A Expired - Fee Related CN104554274B (zh) | 2013-10-24 | 2014-10-24 | 道路摩擦估计系统与方法 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8983749B1 (https=) |
| EP (1) | EP2865572A1 (https=) |
| JP (1) | JP2015081090A (https=) |
| CN (1) | CN104554274B (https=) |
| BR (1) | BR102014025856A2 (https=) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230090923A1 (en) * | 2016-04-05 | 2023-03-23 | Faiveley Transport Italia S.P.A. | Vehicle control system |
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| US20160304100A1 (en) * | 2015-04-16 | 2016-10-20 | GM Global Technology Operations LLC | Methods and systems for computing vehicle reference values |
| CN104773173A (zh) * | 2015-05-05 | 2015-07-15 | 吉林大学 | 一种自主驾驶车辆行驶状态信息估计方法 |
| EP3106360B1 (en) * | 2015-06-16 | 2018-04-11 | Volvo Car Corporation | Method and arrangement for tire to road friction estimation |
| JP6162762B2 (ja) * | 2015-08-27 | 2017-07-12 | 株式会社Ｓｕｂａｒｕ | 車両の制御装置及び車両の制御方法 |
| 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 |
| CN105270409A (zh) * | 2015-09-25 | 2016-01-27 | 江苏大学 | 一种路面峰值附着系数测试装置及测试方法 |
| DE102016209984A1 (de) * | 2016-06-07 | 2017-12-07 | Lucas Automotive Gmbh | Verfahren zur Schätzung einer Wahrscheinlichkeitsverteilung des maximalen Reibwerts an einem aktuellen und/oder zukünftigen Wegpunkt eines Fahrzeugs |
| 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 |
| TWI584971B (zh) | 2016-07-20 | 2017-06-01 | 明泰科技股份有限公司 | 自我偵測胎壓的輪胎 |
| CN107650586B (zh) * | 2016-07-25 | 2019-08-09 | 明泰科技股份有限公司 | 自我检测胎压的轮胎 |
| US10131360B2 (en) * | 2016-08-12 | 2018-11-20 | GM Global Technology Operations LLC | Methods and systems for estimating road surface friction |
| KR101876063B1 (ko) * | 2016-10-04 | 2018-07-06 | 현대자동차주식회사 | 차량 데이터 기반의 노면 판단 방법 |
| DE102016221932A1 (de) * | 2016-11-09 | 2018-05-09 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrerassistenzsystems, Fahrerassistenzsystem |
| KR101897628B1 (ko) * | 2017-02-06 | 2018-10-04 | 서울대학교산학협력단 | 고속 정상 주행상황에서의 타이어 노면 마찰계수 추정방법 및 타이어 노면 마찰계수 추정장치 |
| US10046770B1 (en) * | 2017-04-10 | 2018-08-14 | GM Global Technology Operations LLC | Systems and methods for estimating a road surface friction coefficient and vehicle lateral velocity using a decoupled dynamical model |
| US10603962B2 (en) | 2017-06-29 | 2020-03-31 | The Goodyear Tire & Rubber Company | Tire wear state estimation system and method |
| US20190031231A1 (en) * | 2017-07-27 | 2019-01-31 | Steering Solutions Ip Holding Corporation | Tire load estimation using steering system signals |
| DE102017214030A1 (de) * | 2017-08-11 | 2019-02-14 | Robert Bosch Gmbh | Verfahren zum Bestimmen eines Reibwerts für einen Kontakt zwischen einem Reifen eines Fahrzeugs und einer Fahrbahn und Verfahren zum Steuern einer Fahrzeugfunktion eines Fahrzeugs |
| JP6828716B2 (ja) * | 2017-10-30 | 2021-02-10 | 株式会社デンソー | 路面状態推定装置 |
| JP6775753B2 (ja) * | 2018-01-10 | 2020-10-28 | Ａｚａｐａ株式会社 | 路面摩擦係数の推定方法、推定システム及び推定プログラム |
| JP6775752B2 (ja) * | 2018-01-10 | 2020-10-28 | Ａｚａｐａ株式会社 | 路面摩擦係数の推定方法、推定システム及び推定プログラム |
| DE102018204893A1 (de) * | 2018-03-29 | 2019-10-02 | Deere & Company | Verfahren zur dynamischen Ermittlung einer Reifenlängskraft |
| DE102018220259A1 (de) * | 2018-11-26 | 2020-05-28 | Robert Bosch Gmbh | Verfahren und Steuergerät zum Betreiben eines Fahrzeugs |
| US11644386B2 (en) | 2018-12-11 | 2023-05-09 | The Goodyear Tire & Rubber Company | Tire wear state estimation system and method |
| US11498371B2 (en) | 2018-12-12 | 2022-11-15 | The Goodyear Tire & Rubber Company | Tire data information system |
| JP6790142B2 (ja) | 2019-01-31 | 2020-11-25 | Ｔｏｙｏ Ｔｉｒｅ株式会社 | タイヤ力推定システムおよびタイヤ力推定方法 |
| US11498613B2 (en) * | 2019-02-14 | 2022-11-15 | Steering Solutions Ip Holding Corporation | Road friction coefficient estimation using steering system signals |
| CN109813560B (zh) * | 2019-03-18 | 2024-07-09 | 吉林大学 | 一种简易基于轮胎试验模态测试的滚阻特性评价方法 |
| US11897479B2 (en) * | 2019-03-26 | 2024-02-13 | The Penn State Research Foundation | Friction estimation for steering maneuvers for stationary or slow-rolling automobiles |
| JP6748765B1 (ja) * | 2019-06-25 | 2020-09-02 | 株式会社ショーワ | 接地荷重推定装置、制御装置および接地荷重推定方法 |
| DE102019211052A1 (de) * | 2019-07-25 | 2021-01-28 | Robert Bosch Gmbh | Verfahren zum Trainieren eines neuronalen Netzes für eine Schätzung eines Reibwertes |
| AU2020220060A1 (en) | 2019-08-30 | 2021-03-18 | The Goodyear Tire & Rubber Company | Method for extracting changes in tyre characteristics |
| US11543343B2 (en) | 2019-09-05 | 2023-01-03 | Volvo Car Corporation | Road friction estimation |
| CN112596509B (zh) * | 2019-09-17 | 2024-10-18 | 广州汽车集团股份有限公司 | 车辆控制方法、装置、计算机设备及计算机可读存储介质 |
| KR102267901B1 (ko) * | 2019-10-02 | 2021-06-24 | 한국타이어앤테크놀로지 주식회사 | 노면 상태 추정 장치 및 이를 이용한 노면 상태 추정 방법 |
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| US11318947B2 (en) * | 2019-12-23 | 2022-05-03 | Volvo Car Corporation | Estimating surface friction coefficients using rear-wheel steering excitations |
| KR20260003871A (ko) | 2020-01-15 | 2026-01-07 | 볼보 트럭 코퍼레이션 | 스피드 리미트를 갖는 토크 요청에 기반하는 차량 모션 관리 |
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| KR102389160B1 (ko) * | 2020-11-30 | 2022-04-25 | 주식회사 뉴로센스 | 기계학습을 이용한 스마트휠센서 기반의 노면상태추정 방법 및 장치 |
| CN112644229B (zh) * | 2020-12-25 | 2022-11-11 | 宜宾凯翼汽车有限公司 | 一种间接式的轮胎磨损监测方法及esp系统 |
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| CN113978476B (zh) * | 2021-08-20 | 2022-08-12 | 东南大学 | 一种考虑传感器数据丢失的线控汽车轮胎侧向力估计方法 |
| CN115782473B (zh) * | 2021-08-30 | 2025-12-16 | 固特异轮胎和橡胶公司 | 用于轮胎的反向挠度载荷估计系统 |
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| WO2023159043A1 (en) * | 2022-02-18 | 2023-08-24 | Bridgestone Americas Tire Operations, Llc | Estimation of a coefficient of friction for a surface relative to one or more tires in contact with the surface |
| CN116215140B (zh) * | 2023-01-04 | 2026-01-30 | 广东合微传感科技有限公司 | 一种汽车轮胎载荷估计方法与系统 |
| US12479439B2 (en) * | 2023-03-13 | 2025-11-25 | Toyota Research Institute, Inc. | Systems and methods for neural-EXPTANH learned tire models |
| US12252139B2 (en) | 2023-03-13 | 2025-03-18 | Toyota Research Institute, Inc. | Systems and methods for neural ordinary differential equation learned tire models |
| CN118190788B (zh) * | 2024-03-21 | 2024-09-03 | 武汉科技大学 | 一种轮胎路面摩擦系数测量方法和装置 |
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| CN118798063A (zh) * | 2024-09-12 | 2024-10-18 | 厦门理工学院 | 基于深度学习与数字孪生的路面轮胎附着系数估算系统 |
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| CN120744271B (zh) * | 2025-08-27 | 2025-11-28 | 北京理工大学 | 一种基于多模型融合的参数和轮胎力实时估计方法及系统 |
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- 2014-10-22 EP EP20140189835 patent/EP2865572A1/en not_active Withdrawn
- 2014-10-23 JP JP2014216423A patent/JP2015081090A/ja active Pending
- 2014-10-24 CN CN201410572843.9A patent/CN104554274B/zh not_active Expired - Fee Related
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| US12311949B2 (en) * | 2016-04-05 | 2025-05-27 | Faiveley Transport Italia S.P.A. | Vehicle control system |
Also Published As
| Publication number | Publication date |
|---|---|
| US8983749B1 (en) | 2015-03-17 |
| CN104554274A (zh) | 2015-04-29 |
| EP2865572A1 (en) | 2015-04-29 |
| JP2015081090A (ja) | 2015-04-27 |
| BR102014025856A2 (pt) | 2015-12-22 |
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