CN109311460A - 摩擦值估计器 - Google Patents
摩擦值估计器 Download PDFInfo
- Publication number
- CN109311460A CN109311460A CN201780038358.5A CN201780038358A CN109311460A CN 109311460 A CN109311460 A CN 109311460A CN 201780038358 A CN201780038358 A CN 201780038358A CN 109311460 A CN109311460 A CN 109311460A
- Authority
- CN
- China
- Prior art keywords
- wheel
- vehicle
- braking
- preparation
- lane
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 34
- 238000002360 preparation method Methods 0.000 claims 12
- 238000011161 development Methods 0.000 description 12
- 230000018109 developmental process Effects 0.000 description 12
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
- B60T8/17633—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface based on analogue circuits or digital circuits comprised of discrete electronic elements
-
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/26—Wheel slip
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims (15)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016211728.9A DE102016211728A1 (de) | 2016-06-29 | 2016-06-29 | Reibwertschätzer |
DE102016211728.9 | 2016-06-29 | ||
PCT/EP2017/061718 WO2018001618A1 (de) | 2016-06-29 | 2017-05-16 | Reibwertschätzer |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109311460A true CN109311460A (zh) | 2019-02-05 |
CN109311460B CN109311460B (zh) | 2021-05-04 |
Family
ID=58737561
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780038358.5A Active CN109311460B (zh) | 2016-06-29 | 2017-05-16 | 摩擦值估计器 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11027712B2 (zh) |
EP (1) | EP3487732B1 (zh) |
CN (1) | CN109311460B (zh) |
DE (1) | DE102016211728A1 (zh) |
WO (1) | WO2018001618A1 (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016221975A1 (de) * | 2016-11-09 | 2018-05-09 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrerassistenzsystems, Fahrerassistenzsystem |
DE202018103973U1 (de) * | 2018-07-11 | 2019-10-16 | Forschungsgesellschaft Umformtechnik Mbh | Messanordnung zur Bestimmung des Reibungskoeffizienten und Prüfkörper |
CN112622851B (zh) * | 2019-10-08 | 2021-12-10 | 财团法人车辆研究测试中心 | 根据路面摩擦特性的刹车控制方法 |
DE102022111202A1 (de) | 2022-05-05 | 2023-11-09 | Zf Cv Systems Global Gmbh | Verfahren zum Ermitteln eines maximalen Reibungskoeffizienten eines Rades eines Fahrzeugs auf einer Fahrbahn |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4779447A (en) * | 1985-05-07 | 1988-10-25 | Lucas Industries Public Limited Company | Method for determining the coefficient of friction between a vehicle tire and a roadway |
US20070050121A1 (en) * | 2004-04-02 | 2007-03-01 | Dieter Ammon | Method for determining a coefficient of friction |
EP1950116A1 (en) * | 2005-12-27 | 2008-07-30 | Honda Motor Co., Ltd | Vehicle control device |
EP1967433A1 (en) * | 2005-12-27 | 2008-09-10 | HONDA MOTOR CO., Ltd. | Vehicle control device |
EP1995091A2 (en) * | 2007-05-17 | 2008-11-26 | Aisin Seiki Kabushiki Kaisha | Apparatus for controlling load for vehicle driving wheel |
CN103153726A (zh) * | 2010-09-30 | 2013-06-12 | 倍耐力轮胎股份公司 | 确定车辆轮胎与滚动面之间潜在摩擦的方法和系统 |
US20130211621A1 (en) * | 2010-11-05 | 2013-08-15 | Wabco Gmbh | Vehicle Regulating System and Method for Determining Tire States |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0363570B1 (en) * | 1988-10-13 | 1996-02-21 | Japan Electronics Industry, Ltd. | Road surface friction sensor and road surface friction coefficient detector, and vehicle antilock braking device |
US6533367B1 (en) * | 1998-06-05 | 2003-03-18 | Continental Teves Ag & Co. Ohg | System for controlling the traction slip of a vehicle |
JP2004523418A (ja) * | 2001-03-15 | 2004-08-05 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 大きな摩擦係数でのフルブレーキング時のブレーキ圧力上昇を制御および/または調整する方法 |
US20030151302A1 (en) * | 2002-02-08 | 2003-08-14 | Sohel Anwar | Slip regulation algorithm for an automotive vehicle using a normal force estimate and a predetermined peak wheel slip |
US6728620B2 (en) * | 2002-02-08 | 2004-04-27 | Visteon Global Technologies, Inc. | Predictive control algorithm for an anti-lock braking system for an automotive vehicle |
DE10208815B4 (de) * | 2002-03-01 | 2011-05-19 | Continental Teves Ag & Co. Ohg | Verfahren zum Ermitteln eines maximalen Reibwertes |
JP2006521237A (ja) * | 2003-03-21 | 2006-09-21 | ダイムラークライスラー・アクチェンゲゼルシャフト | 道路と車両タイヤとの間で作用する摩擦を表す摩擦値を決定するための方法及び装置 |
JP2005297855A (ja) * | 2004-04-14 | 2005-10-27 | Toyota Motor Corp | 車両の減速制御装置 |
US7117716B2 (en) * | 2005-01-05 | 2006-10-10 | Nac Dynamics, Llc | Dynamic friction testing vehicle to measure fluid drag and rolling friction |
DE102007053256B3 (de) * | 2007-11-08 | 2009-07-09 | Continental Automotive Gmbh | Verfahren und Vorrichtung zum Ermitteln eines Reibwerts |
JP4920054B2 (ja) * | 2009-03-30 | 2012-04-18 | 株式会社日立製作所 | 車両運動制御装置 |
US8718897B2 (en) * | 2010-03-29 | 2014-05-06 | Wrightspeed, Inc. | Vehicle dynamics control in electric drive vehicles |
KR101250803B1 (ko) * | 2011-04-13 | 2013-04-05 | 김정수 | 용적형 제동장치 |
JP5882484B2 (ja) * | 2012-09-20 | 2016-03-09 | パイオニア株式会社 | スリップ率推定装置及びスリップ率推定方法 |
AT14292U1 (de) * | 2013-04-15 | 2015-07-15 | Ve Vienna Engineering Forschungs Und Entwicklungs Gmbh | Verfahren zum Betätigen einer elektrisch betätigten Reibungsbremse |
ITMO20130286A1 (it) * | 2013-10-11 | 2015-04-11 | Cnh Italia Spa | Metodi di frenatura per un veicolo e relativi apparati. |
JP6204865B2 (ja) * | 2014-03-31 | 2017-09-27 | 日立オートモティブシステムズ株式会社 | 車両の運動制御システム、車両、および、プログラム |
US9751533B2 (en) * | 2014-04-03 | 2017-09-05 | The Goodyear Tire & Rubber Company | Road surface friction and surface type estimation system and method |
JP6294781B2 (ja) * | 2014-07-23 | 2018-03-14 | 日立建機株式会社 | 制動距離抑制装置 |
US9475500B2 (en) * | 2014-11-12 | 2016-10-25 | GM Global Technology Operations LLC | Use of participative sensing systems to enable enhanced road friction estimation |
US9430944B2 (en) * | 2014-11-12 | 2016-08-30 | GM Global Technology Operations LLC | Method and apparatus for determining traffic safety events using vehicular participative sensing systems |
US10108197B2 (en) * | 2015-12-08 | 2018-10-23 | Ford Global Technologies, Llc | Deceleration determination of a vehicle |
DE102018200180A1 (de) * | 2018-01-08 | 2019-07-11 | Robert Bosch Gmbh | Verfahren zur Ermittlung des Reibwerts zwischen einem Fahrzeugrad und der Fahrbahn |
US11697418B2 (en) * | 2018-09-06 | 2023-07-11 | Waymo Llc | Road friction and wheel slippage assessment for autonomous vehicles |
-
2016
- 2016-06-29 DE DE102016211728.9A patent/DE102016211728A1/de not_active Withdrawn
-
2017
- 2017-05-16 WO PCT/EP2017/061718 patent/WO2018001618A1/de unknown
- 2017-05-16 EP EP17724341.7A patent/EP3487732B1/de active Active
- 2017-05-16 US US16/313,962 patent/US11027712B2/en active Active
- 2017-05-16 CN CN201780038358.5A patent/CN109311460B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4779447A (en) * | 1985-05-07 | 1988-10-25 | Lucas Industries Public Limited Company | Method for determining the coefficient of friction between a vehicle tire and a roadway |
US20070050121A1 (en) * | 2004-04-02 | 2007-03-01 | Dieter Ammon | Method for determining a coefficient of friction |
EP1950116A1 (en) * | 2005-12-27 | 2008-07-30 | Honda Motor Co., Ltd | Vehicle control device |
EP1967433A1 (en) * | 2005-12-27 | 2008-09-10 | HONDA MOTOR CO., Ltd. | Vehicle control device |
EP1995091A2 (en) * | 2007-05-17 | 2008-11-26 | Aisin Seiki Kabushiki Kaisha | Apparatus for controlling load for vehicle driving wheel |
CN103153726A (zh) * | 2010-09-30 | 2013-06-12 | 倍耐力轮胎股份公司 | 确定车辆轮胎与滚动面之间潜在摩擦的方法和系统 |
US20130211621A1 (en) * | 2010-11-05 | 2013-08-15 | Wabco Gmbh | Vehicle Regulating System and Method for Determining Tire States |
Also Published As
Publication number | Publication date |
---|---|
CN109311460B (zh) | 2021-05-04 |
DE102016211728A1 (de) | 2018-01-04 |
WO2018001618A1 (de) | 2018-01-04 |
US20190193697A1 (en) | 2019-06-27 |
US11027712B2 (en) | 2021-06-08 |
EP3487732B1 (de) | 2022-08-03 |
EP3487732A1 (de) | 2019-05-29 |
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Legal Events
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: Philip Delie Ludwigshafen Germany Patentee after: ZF FRIEDRICHSHAFEN AG Country or region after: Germany Patentee after: ZF commercial vehicle systems Europe Ltd. Country or region after: Belgium Patentee after: ZF active security and electronics USA Ltd. Country or region after: U.S.A. Address before: Philip Delie Ludwigshafen Germany Patentee before: ZF FRIEDRICHSHAFEN AG Country or region before: Germany Patentee before: WABCO EUROPE BVBA Country or region before: Belgium Patentee before: TRW AUTOMOTIVE U.S. LLC Country or region before: U.S.A. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240703 Address after: Bern Switzerland Patentee after: ZF commercial vehicle system Global Co.,Ltd. Country or region after: Switzerland Patentee after: ZF commercial vehicle systems Europe Ltd. Country or region after: Belgium Patentee after: ZF active security and electronics USA Ltd. Country or region after: U.S.A. Address before: Philip Delie Ludwigshafen Germany Patentee before: ZF FRIEDRICHSHAFEN AG Country or region before: Germany Patentee before: ZF commercial vehicle systems Europe Ltd. Country or region before: Belgium Patentee before: ZF active security and electronics USA Ltd. Country or region before: U.S.A. |