DE102018202578A1 - A method for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle and method for performing a friction coefficient estimation for a vehicle and method for controlling a vehicle - Google Patents

Abstract

The invention relates to a method for providing an evaluation parameter 175 for evaluating a friction coefficient estimation for a vehicle, the method having at least one step of generating in which the evaluation parameter 170 is generated using an input value signal 150 read in by a detector 155 at a geographical position, wherein the input value signal 150 represents an input value usable for friction coefficient estimation at a time, and further generating a friction coefficient signal 160 read in by a friction coefficient estimation means 165 representing a geographic position friction coefficient valid at the time.

Description

State of the art

The invention is based on a device or a method according to the preamble of the independent claims. The subject of the present invention is also a computer program.

Among other things, the coefficient of friction between the vehicle and the road can be important for vehicle movements. For a direct active friction value measurement in special situations, such as an airfield frictional value determination, measuring vehicles with Reibwertmesstechnik can be used.

Disclosure of the invention

Against this background, with the approach presented here, a method for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle, a method for performing a friction coefficient estimation for a vehicle, a method for controlling a vehicle, a device using these methods, as well as finally presented a corresponding computer program according to the main claims. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

The method approach presented here describes an aggregation of input value-representing input value signals for determining a location-related coefficient of friction for a vehicle.

• Erzeugen des Evaluierungsparameters unter Verwendung eines von einer Erfassungseinrichtung an einer geografischen Position eingelesenen Eingangswertsignals, wobei das Eingangswertsignal einen zur Reibwertschätzung verwendbaren Eingangswert zu einem Zeitpunkt repräsentiert, und eines von einer Einrichtung zur Reibwertschätzung eingelesenen Reibwertsignals, das einen zu dem Zeitpunkt gültigen ermittelten Reibwert für die geografische Position repräsentiert.

A method is presented for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle, the method having at least the following step:

• Generating the evaluation parameter using an input value signal read in by a detection device at a geographical position, wherein the input value signal represents an input value usable for friction coefficient estimation at one time, and a friction coefficient signal read by a device for friction coefficient estimation, which determines a valid friction value for the geographic position Position represents.

An evaluation parameter may be a variable for evaluating a determined coefficient of friction estimation for a vehicle. A coefficient of friction estimation may be the most accurate possible determination of a current coefficient of friction for a specific vehicle that is at a specific position at a particular time, the knowledge of a coefficient of friction currently applicable to the particular vehicle, in particular avoidance of accidents applies. A coefficient of friction may be a value that serves to calculate a friction force between two bodies. Specifically, this may be a ground truth friction value determined by vehicles, against which the output of a cloud-side coefficient of friction estimation system (for example in the form of the evaluation parameter) is checked. It can thus be done, for example, a cross check to a vehicle detected Ground Truth coefficient of friction. The vehicle may be a passenger transport vehicle, for example a highly automated vehicle.

The advantages of the method approach presented here are, in particular, that a multiplicity of data from different devices can be used. Thanks to the use of this collective intelligence, individual data errors of different sensors have little effect and statistical evaluations yield good results. Since it is relatively difficult, expensive and expensive to measure the quality statement of a friction coefficient map conventionally, high savings can be achieved by the method approach presented here. Alternatively, the quality statement can be measured with the method methodology presented here for a test run on a test system. Alternatively, the evaluation of a friction coefficient estimation for a vehicle can also be used to monitor the live system.

According to an embodiment, the step of generating may be performed a plurality of times to obtain a plurality of evaluation parameters, the method comprising a step of collecting the generated evaluation parameters to generate an aggregated evaluation parameter, wherein in the collecting step, generating the generated evaluation parameters by means of a Aggregation rule for evaluating an information quality of the determined coefficient of friction are collected. Here, a number of as many evaluation parameters as possible are collected in order to generate an optimally evaluating evaluation parameter.

According to one embodiment, with a step of filtering, the input value signal may be filtered from a plurality of input value signals to obtain a filtered input value, wherein in the step of generating the filtered input value is used to generate the evaluation parameter. This can be a filtering of the Input value signals are carried out according to defined criteria in order to obtain particularly suitable input values.

According to a further embodiment, at least the step of generating may be carried out on an off-vehicle unit. In this way, a noher numerical or circuit complexity (also in terms of energy consumption) can be saved on the vehicle side.

• Bereitstellen eines Evaluierungsparameters zur Evaluierung der Reibwertschätzung nach einem Verfahren zum Bereitstellen eines Evaluierungsparameters zur Evaluierung einer Reibwertschätzung für ein Fahrzeug; und
• Ermitteln des Reibwerts unter Verwendung des Eingangswertsignals und des Evaluierungsparameters.

A method for performing a coefficient of friction estimation for a vehicle is presented, the method having the following steps:

• Providing an evaluation parameter for evaluating friction coefficient estimation according to a method for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle; and
• Determining the coefficient of friction using the input value signal and the evaluation parameter.

The vehicle may be a vehicle for highly automated driving. A coefficient of friction estimation may be the most accurate possible determination of a current coefficient of friction for a specific vehicle that is at a specific position at a particular time, the knowledge of a coefficient of friction currently applicable to the particular vehicle, in particular avoidance of accidents applies.

According to one embodiment, with a step of delaying, the input value signal may be delayed by a delay time period to produce a delayed input value signal, wherein in the step of determining, the friction value (estimated on the cloud side) is determined using the delayed input value signal. Such an embodiment of the approach presented here has the advantage that a delay ensures that a coefficient of friction estimated on the cloud side is evaluated with the ground truth coefficient of friction determined on the vehicle side. However, the Ground Truth friction coefficient used for the check is reused after the evaluation because no information is to be lost. The coefficient of friction (estimated on the cloud side) is evaluated, for example, by the ground-truth coefficient of friction determined by the vehicle. The delay serves, for example, to ensure that a friction coefficient on the cloud side is not already determined with the value against which it is being evaluated, which serves to ensure the independence of the evaluation variable.

According to one embodiment, with a step of forwarding, the evaluation parameter may be forwarded with a delay by a forwarding interval, wherein in the step of determining the (estimated) friction coefficient is determined using the passed-on evaluation parameter.

• Durchführen einer Reibwertschätzung für ein Fahrzeug entsprechend einem Verfahren zum Durchführen einer Reibwertschätzung für ein Fahrzeug; und
• Steuern des Fahrzeugs unter Verwendung eines Ergebnisses der Reibwertschätzung.

A method for controlling a vehicle is presented, the method comprising the following steps:

• Performing a friction coefficient estimation for a vehicle according to a method of performing a friction coefficient estimation for a vehicle; and
• Controlling the vehicle using a result of the friction coefficient estimation.

One or more of the methods presented here can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a device or a control device.

The approach presented here also provides a device which is designed to perform the steps of a variant of one of the methods presented here in corresponding devices to drive or implement. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

For this purpose, the device may comprise at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting data or control signals to the sensor Actuator and / or at least one communication interface for reading or outputting data embedded in a communication protocol. The arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit may be a flash memory, an EEPROM or a magnetic memory unit. The communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output in a corresponding data transmission line.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. At a For example, in terms of hardware, the interfaces may be part of a so-called system ASIC, which includes a variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

• 1 eine schematische Ansicht einer Rechnereinheit mit einer Vorrichtung zum Bereitstellen eines Evaluierungsparameters zur Evaluierung einer Reibwertschätzung für ein Fahrzeug und eine Vorrichtung zum Durchführen einer Reibwertschätzung für ein Fahrzeug gemäß einem Ausführungsbeispiel;
• 2 einen vereinfachten schematischen Systemaufbau einer Reibwertschätzung basierend auf einer Vorrichtung gemäß einem Ausführungsbeispiel;
• 3 einen schematischen Verfahrensablauf zum Bereitstellen eines Evaluierungsparameters zur Evaluierung einer Reibwertschätzung für ein Fahrzeug gemäß einem Ausführungsbeispiel;
• 4 einen schematischen Verfahrensablauf zum Bereitstellen eines Evaluierungsparameters zur Evaluierung einer Reibwertschätzung für ein Fahrzeug und zum Durchführen einer Reibwertschätzung für ein Fahrzeug gemäß einem Ausführungsbeispiel;
• 5 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Bereitstellen eines Evaluierungsparameters zur Evaluierung einer Reibwertschätzung für ein Fahrzeug gemäß einem Ausführungsbeispiel; und
• 6 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Durchführen einer Reibwertschätzung für ein Fahrzeug gemäß einem Ausführungsbeispiel.

Embodiments of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

• 1 1 is a schematic view of a computer unit having an apparatus for providing an evaluation parameter for evaluating a coefficient of friction estimation for a vehicle, and a device for carrying out a friction coefficient estimation for a vehicle according to an exemplary embodiment;
• 2 a simplified schematic system structure of a coefficient of friction estimation based on a device according to an embodiment;
• 3 a schematic process flow for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle according to an embodiment;
• 4 a schematic process flow for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle and for performing a friction coefficient estimation for a vehicle according to an embodiment;
• 5 a flowchart of an embodiment of a method for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle according to an embodiment; and
• 6 a flowchart of an embodiment of a method for performing a friction coefficient estimation for a vehicle according to an embodiment.

Before embodiments are described in more detail below with reference to the figures, first background and principles of embodiments will be briefly explained.

Developments in the area of networked vehicles make it possible, for example by means of so-called connectivity units, to exchange sensor data about current lane, speed, traffic situation, etc. By processing such data and resulting information gain via road sections, for example, highly automated driving and predictive driver assistance systems can be gained Safety be operated. In particular, information about an environment that could not be generated by the vehicle alone with its own sensors can be provided to a vehicle.

In this context, the coefficient of friction for contact between the road and the vehicle is significant. In passenger cars and the like, no dedicated friction sensors are usually installed. In particular, it is by server-side processing of many sensor data from many different vehicles, eg. B. acceleration sensors, in combination with weather sensors and street-side sensors, z. As smoothness sensors, according to embodiments possible to determine or estimate a coefficient of friction for road sections. Such information about the coefficient of friction can then be used for further function development with the aim of increasing safety and comfort. Road friction values, entered in a coefficient of friction map, can be used, for example, to automatically set vehicle speeds, for example, before curves. Thus, dangerous situations or accidents can be avoided by lane agreements, especially in difficult road conditions such as wet or snowy.

For a direct active friction coefficient measurement in special situations, eg. As airfield friction coefficient determination, there are measuring vehicles with Reibwertmesstechnik. Here are, for example, the so-called Surface Friction Tester and the so-called Sideway force called Coefficient Routine Investigation Machine. Both are based on a force measurement. The Surface Friction Tester is a vehicle trailer with three wheels. The third wheel is braked to the physical limit, until the tire stops. About the necessary braking force or the necessary braking torque can be the friction force and determine the coefficient of friction with the aid of the known normal force. The Sideway-force Coefficient Routine Investigation Machine determines the frictional force on the lateral force of a fifth wheel inclined 20 degrees to the direction of travel. The coefficient of friction can be determined again with known normal force.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, with a repeated description of these elements is omitted.

1 shows a schematic view of a computer unit 100 with a device 105 for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle and a device 110 for performing a coefficient of friction estimation for a vehicle according to an exemplary embodiment. The computer unit 100 has the device 105 for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle, further the device 110 for performing a coefficient of friction estimation for a vehicle, and finally a device 165 for friction coefficient estimation.

According to one embodiment, the device 105 a filter device 115 , a generating device 120 and a collector 125 on. According to one embodiment, the device 110 a time delay device 130 , a provisioning device 135 , a forwarding device 140 and a detection device 145 on.

The filter device 115 is initially formed an input value signal 150 and / or input signals 150 from a detection device 155 read in at a geographical position, the input value signal 150 and / or the input value signals 150 represent an input value usable for friction coefficient estimation at a time. The filter device 115 is further configured, the input value signal 150 and / or the input value signals from a plurality of input value signals 150 to filter. The generating device 120 is initially formed, a friction coefficient signal 160 from the institution 165 to read in the coefficient of friction estimation, wherein the coefficient of friction signal 160 represents a currently valid friction coefficient for the geographical position. The generating device 120 is further configured, an evaluation parameter 170 using the filtered input value signal 150 and the Reibwertsignals 160 to create. Here, a generation of the evaluation parameter becomes 170 using the filtered input value signal 150 and the Reibwertsignals 160 executed several times to evaluation parameters 170 to obtain. The collecting device 125 is configured to first receive the plurality of generated evaluation parameters 170 to collect and finally an aggregated evaluation parameter 175 generating the and / or the generated evaluation parameters 175 by means of a collection device 125 existing aggregation rule 180 to evaluate an information quality of the determined coefficient of friction.

The time delay device 130 is initially formed, an input signal 150 and / or input signals 150 from the detection device 155 read in at the geographical position, the input signal 150 and / or the input value signals 150 represent the input value usable for friction coefficient estimation at the time. The time delay device 130 is further configured, the input value signal 150 and / or the input value signals 150 to delay a delay time, now a delayed input value signal 185 to create. The provisioning device 135 is initially formed by the collection device 125 the device 105 provided aggregated evaluation parameters 175 read. The provisioning device 135 is further configured, the aggregated evaluation parameters 175 now to evaluate the friction coefficient estimation. The forwarding device 140 is formed, the aggregated evaluation parameters 175 with a delay to forward a forwarding interval. Finally, the investigator 145 trained, the coefficient of friction 190 using the delayed input value signal 185 and the forwarded aggregate evaluation parameter 175 to investigate. Using the determined coefficient of friction 190 the vehicle can now be controlled.

2 shows a simplified schematic system structure of a friction coefficient estimation based on a computer unit 100 according to an embodiment. The system structure 200 includes a plurality of foreign vehicles 205 , a weather online service 210 , a vehicle 215 , a road sensor device 220 as well as the computer unit 100 ,

The computer unit 100 is designed vehicle sensor data 225 from the majority of foreign vehicles 205 , Road sensor data 230 from the road sensor device 220 as well as weather data 235 from the weather online service 210 read. Alternatively, for example, data from other sources of information can also be read. In the computer unit 100 become the read-in vehicle sensor data 225 , Road sensor data 230 as well as weather data 235 in an aggregation logic combined and here a local friction coefficient 190 determined. This aggregated coefficient of friction 190 then gets to the vehicle 215 pinpointed to the vehicle 215 an information about the current coefficient of friction 190 to give. This coefficient of friction 190 in turn can serve as important information for driver assistance systems of the vehicle 215 and for example for the release of automated vehicles. To the quality of a determined coefficient of friction 190 To ensure, for example, for the fulfillment of ASIL requirements, is thus an evaluation of the information quality of the determined coefficients of friction 190 required. The evaluated information quality can then also be used to enrich output data of a device for friction coefficient estimation and to provide further options for checking the plausibility or decision of the further procedure.

Thus, the device for friction coefficient estimation always receives a current estimate of the information quality of the incoming friction coefficients 190 , It can also be used to display a so-called circuit breaker. This is another safety instance in the friction coefficient estimator, which may decide not to supply the system with data or to switch to other models and / or fallback levels because the information quality of the friction coefficient prediction results 190 deviates strongly from the expectation. The evaluation also serves the security of ADAS / HAD systems.

Would the in 2 would be used to significantly increase the operating costs of such a service. Thus, the focus of the proposed method approach is more on the evaluation of such a system at runtime, rather than on a functional development. Nevertheless, the method approach described here can contribute an essential part to the improvement if adaptive logic is used for the coefficients of friction 190 to investigate.

3 shows a schematic process flow 300 for providing an evaluation parameter for evaluating a coefficient of friction estimation for a vehicle according to an exemplary embodiment. The procedure 300 becomes on the device according to an embodiment 105 for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle in corresponding units executed and / or controlled.

According to one embodiment, the device 105 a filter device 115 , a generating device 120 and a collector 125 on. The filter device 115 is initially formed an input value signal 150 and / or input signals 150 read by a detection device at a geographical position, wherein the input value signal 150 and / or the input value signals 150 represents an input value usable for friction coefficient estimation at one time. The filter device 115 is further configured, the input value signal 150 and / or the input value signals 150 from a plurality of input value signals 150 to filter. The generating device 120 is initially formed, a friction coefficient signal 160 from a facility 165 to read in the coefficient of friction estimation, wherein the coefficient of friction signal 160 represents a currently valid friction coefficient for the geographical position. The generating device 120 is further configured, the evaluation parameter 170 using the filtered input value signal 150 and the Reibwertsignals 160 to create. Here, a generation of the evaluation parameter becomes 170 using the filtered input value signal 150 and the Reibwertsignals 160 executed several times to evaluation parameters 170 to obtain. The collecting device 125 is configured to first receive the plurality of generated evaluation parameters 170 to collect and finally an aggregated evaluation parameter 175 generating the and / or the generated evaluation parameters 175 by means of a collection device 125 existing aggregation rule for evaluating an information quality of the determined friction coefficient are collected. According to one embodiment, the collected evaluation parameters 175 calculate a quality statement of the system. If, for example, the standard deviation is used as aggregation rule, then the residual standard error is calculated. This value indicates what the average prediction error of the system is. This is followed by an output of the aggregated evaluation parameter 175 to a driver assistance system 305 , where the driver assistance system 305 is arranged for example in a vehicle.

At the same time reads the device as well 165 for friction coefficient estimation, the input signal 150 and / or the input signals 150 a, wherein the input signal 150 and / or the input value signals 150 in an intermediate step 310 delayed by a delay time to the now delayed input value signal 150 to the institution 165 for friction coefficient estimation. Using the time-delayed input signal 150 will then be in the facility 165 for friction coefficient estimation, a coefficient of friction signal 160 determines that again to the generating device 120 the device 105 provided. Alternatively, one of the device 165 coefficient of friction predicted for friction coefficient estimation in the form of a friction coefficient signal 315 directly to the driver assistance system 305 be issued, the driver assistance system 305 using the predicted coefficient of friction signal 315 and the aggregated evaluation parameter 175 can determine a current coefficient of friction for the vehicle. Using the determined coefficient of friction, the vehicle can then be controlled.

Of course, it is also possible only a subset of the input signals 150 to filter and only selected input signals 150 to rate. After the evaluation of the input signals 150 opposite the coefficient of friction signal 160 in the generating device 120 , can the input signals 150 still in the facility 165 used for friction coefficient estimation. Thus, by taking advantage of the time reference 310 , the input signals 150 be used on the one hand for validation and then also to determine the coefficient of friction.

4 shows a schematic process flow 400 for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle and for performing a friction coefficient estimation for a vehicle according to one exemplary embodiment. The procedure 400 becomes on the device according to an embodiment 105 for providing an evaluation parameter for evaluating a coefficient of friction estimation for a vehicle and on the device 110 to carry out a friction coefficient estimation for a vehicle.

By coupling the method for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle and the method for carrying out a friction coefficient estimation for a vehicle, the information quality of a friction coefficient estimation can be evaluated and an optimal friction value can be determined. It is also conceivable that this information obtained for an improvement of the procedure 400 to use, for example, a kind of adaptive learning and thus integrate the process flow 400 continuously optimize. This has the consequence that the procedure 400 always optimized the current quality statement. Without the procedure presented here 400 Otherwise, an adaptive system would only be possible with the costly and expensive use of external reference measurements.

According to one embodiment, the device 105 a filter device 115 , a generating device 120 and a collector 125 on. The filter device 115 is initially formed an input value signal 150 and / or input signals 150 read by a detection device at a geographical position, wherein the input value signal 150 and / or the input value signals represent an input value usable for friction coefficient estimation at a point in time. The filter device 115 is further configured, the input value signal 150 and / or the input value signals 150 from a plurality of input value signals 150 to filter. The generating device 120 is initially formed, a friction coefficient signal 160 read by a device for friction coefficient estimation, wherein the Reibwertsignal 160 represents a currently valid friction coefficient for the geographical position. The generating device 120 is further configured, an evaluation parameter 170 using the filtered input value signal 150 and the Reibwertsignals 160 to create. Here, a generation of the evaluation parameter becomes 170 using the filtered input value signal 150 and the Reibwertsignals 160 executed several times to evaluation parameters 170 to obtain. The collecting device 125 is configured to first receive the plurality of generated evaluation parameters 170 to collect and finally an aggregated evaluation parameter 175 generating the and / or the generated evaluation parameters 175 by means of a collection device 125 existing aggregation rule for evaluating an information quality of the determined friction coefficient are collected. According to one embodiment, the collected evaluation parameters 175 calculate a quality statement of the system. If, for example, the standard deviation is used as aggregation rule, then the residual standard error is calculated. This value indicates what the average prediction error of the system is. This is followed by an output of the aggregated evaluation parameter 175 to a forwarding device 140 the device 110 for performing a coefficient of friction estimation for a vehicle.

According to one embodiment, the device 110 a time delay device 130 , the forwarding device 140 and a detection device 145 on. The time delay device 130 is initially formed, the input signal 150 and / or the input value signals 150 read by a detection device at a geographical position, wherein the input value signal 150 and / or the input value signals 150 represent an input value usable for friction coefficient estimation at a time. The time delay device 130 is further configured, the input value signal 150 and / or the input value signals 150 to delay a delay period, a delayed input value signal 185 to create. The forwarding device 140 is formed, the aggregated evaluation parameters 175 with a delay by a forwarding interval to the determining means 135 forward. Finally, the investigator 145 trained, the coefficient of friction 190 using the delayed input value signal 185 and the forwarded aggregate evaluation parameter 175 to investigate. Using the determined coefficient of friction 190 the vehicle can now be controlled.

5 shows a flowchart of an embodiment of a method 500 for providing an evaluation parameter for evaluating a coefficient of friction estimation for a vehicle according to an exemplary embodiment. The method can be performed using the in 1 presented device for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle.

The procedure 500 points first to a step 505 in which an input value signal from a plurality of input value signals is filtered to obtain a filtered input value. Further, the method has 500 one step 510 in which the evaluation parameter is generated using the filtered input value signal read in by a detection device at a geographical position and a friction coefficient signal read by a device for friction coefficient estimation. The step 510 is executed multiple times to get evaluation parameters. In this case, the input value signal represents an input value that can be used for friction coefficient estimation at a point in time, and the coefficient of friction signal in this case represents a currently determined coefficient of friction for the geographical position. Finally, the method has a step 515 in which the generated evaluation parameters are collected to generate an aggregated evaluation parameter, and further wherein the generated evaluation parameters are collected by means of an aggregation rule for evaluating an information quality of the determined friction value.

6 shows a flowchart of an embodiment of a method 600 for performing a coefficient of friction estimation for a vehicle according to an embodiment and a subsequent method 650 for controlling a vehicle according to an embodiment The method 600 and 650 can be made using the in 1 presented device for performing a friction coefficient estimation for a vehicle.

The procedure 600 points first to a step 605 in which an input signal is delayed by a delay period to produce a delayed input signal. The procedure 600 still has a step 610 in which an evaluation parameter for the evaluation of the coefficient of friction estimation according to the 5 provided method for providing an evaluation parameter for evaluating a friction coefficient estimation for a vehicle is provided. Further, the method has 600 one step 615 in which the evaluation parameter is forwarded by a forwarding interval with a delay. Finally, the procedure points 600 one step 620 in which the coefficient of friction is determined using the delayed input value signal and the passed-on evaluation parameter. To the procedure 600 closes according to an embodiment, the method 650 at that, too, the steps 605 . 610 . 615 and 620 having. The procedure 650 finally shows a step 655 in which the vehicle is controlled using a result of the friction coefficient estimation.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

Claims (11)

A method (500) for providing an evaluation parameter (175) for evaluating a coefficient of friction estimation for a vehicle (215), the method (500) comprising at least the following step: Generating (510) the evaluation parameter (170) using an input value signal (150) read in at a geographical position by a detector (155), the input value signal (150) representing an input value usable for friction coefficient estimation at one time, and one of a device ( 165) for friction coefficient estimation read friction coefficient signal (160), which represents a current valid friction coefficient for the geographical position. Method (500) according to Claim 1 wherein the step of generating (510) is performed a plurality of times to obtain evaluation parameters (170), the method (500) further comprising a step of collecting (515) the generated evaluation parameters (170) to obtain an aggregated evaluation parameter (175). In the collecting step (515), the generated evaluation parameters (170) are collected by means of an aggregation rule (180) for evaluating an information quality of the determined coefficient of friction. Method (500) according to one of the preceding claims, comprising a filtering step (505) the input value signal (150) of a plurality of input value signals (150) to obtain a filtered input value, wherein in the step of generating (510) the filtered input value is used to generate the evaluation parameter (170). Method (500) according to one of the preceding claims, in which at least the step (510) of generating is performed on an off-vehicle unit. A method (600) for performing a friction coefficient estimation for a vehicle (215), the method (600) comprising the steps of: Providing (610) an evaluation parameter (175) for evaluating friction coefficient estimation according to a method (500) according to one of the preceding claims; and Determining (620) the coefficient of friction (190) using the input value signal (185) and the evaluation parameter (175). Method (600) according to Claim 5 , comprising a step of delaying (605) the input value signal (150) by a delay time period to produce a delayed input value signal (185), wherein in the step of determining (620) the coefficient of friction (190) is determined using the delayed input value signal (185) becomes. Method (600) according to Claim 5 or 6 , comprising a step of forwarding (615) the evaluation parameter (175) with a delay by a forwarding interval, wherein in the step of determining (620) the coefficient of friction (190) is determined using the passed-on evaluation parameter (175). A method (650) for controlling a vehicle (215), the method (650) comprising the steps of: - performing (610, 620) a coefficient of friction estimation for a vehicle (215) according to a method (600) according to any one of Claims 5 to 7 ; and - controlling (655) the vehicle (215) using a result of the friction coefficient estimation. Apparatus (105, 110) arranged to perform steps of one of the methods (500, 600, 650) in accordance with Claims 1 to 8th execute and / or control in appropriate units. A computer program adapted to perform a method (500; 600, 650) according to any one of the preceding Claims 1 to 8th execute and / or control. Machine-readable storage medium on which the computer program is based Claim 10 is stored.

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