DE3728708A1 - METHOD FOR DETECTING THE FRICTION VALUE - Google Patents

METHOD FOR DETECTING THE FRICTION VALUE

Info

Publication number
DE3728708A1
DE3728708A1 DE19873728708 DE3728708A DE3728708A1 DE 3728708 A1 DE3728708 A1 DE 3728708A1 DE 19873728708 DE19873728708 DE 19873728708 DE 3728708 A DE3728708 A DE 3728708A DE 3728708 A1 DE3728708 A1 DE 3728708A1
Authority
DE
Germany
Prior art keywords
friction
coefficient
road
rolling noise
recorded
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.)
Withdrawn
Application number
DE19873728708
Other languages
German (de)
Inventor
Alfred Dipl Ing Sigl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE19873728708 priority Critical patent/DE3728708A1/en
Priority to PCT/EP1988/000672 priority patent/WO1989001888A1/en
Publication of DE3728708A1 publication Critical patent/DE3728708A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0237—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems circuits concerning the atmospheric environment
    • 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

Abstract

In a process for determining the coefficient of friction between the road and the tyres of a motor vehicle, the driving noises of at least one tyre are picked up by a microphone and the frequency of the signal obtained is analysed. The condition of the road can be deduced from the frequency spectrum.

Description

Die Erfindung betrifft ein Verfahren zum Erkennen des Reibbeiwerts zwischen Fahrbahn und Reifen eines Kraftfahrzeugs.The invention relates to a method for detecting the coefficient of friction between Road and tires of a motor vehicle.

Für den Fahrer eines Kraftfahrzeugs ist es von Interesse, den Fahrbahnzu­ stand zu kennen und z.B. bei geringem Reibbeiwert gewarnt zu werden. Für ein ABS und/oder ein ASR ist es für eine schnell wirksame Regelung eben­ falls günstig, schon vor einer Regelung eine Information über den vorhande­ nen Reibbeiwert zu haben um z.B. Ansprechschwellen umzuschalten und dgl.It is of interest to the driver of a motor vehicle to close the road know and e.g. to be warned when the coefficient of friction is low. For it is an ABS and / or an ASR for a quickly effective control If cheap, information about the existing one before a regulation to have a coefficient of friction e.g. Switch response thresholds and the like.

Es gibt Methoden zur Reibbeiwertbestimmung, die den Reibbeiwert während eines Regelvorgangs oder innerhalb eines Tests bei oder nach einer Bremsung ermitteln.There are methods for determining the coefficient of friction that determine the coefficient of friction during a control process or within a test during or after braking determine.

Das erfindungsgemäße Verfahren hat den Vorteil, daß der Reibbeiwert schon vorab, also ohne Regelung und/oder Bremsung ermittelt werden kann. Die Er­ findung beruht auf der Erkenntnis, daß aus den unterschiedlichen Frequenz­ spektren der Abrollgeräusche der Reifen auf unterschiedlichen (z.B. naß oder trocken) Fahrbahnen auf den Fahrbahnzustand und auf den Reibbeiwert geschlossen werden kann. The method has the advantage that the coefficient of friction already can be determined in advance, i.e. without regulation and / or braking. The he Finding is based on the knowledge that from the different frequency spectra of tire rolling noise on different (e.g. wet or dry) on the condition of the road and the coefficient of friction can be closed.  

Das Signal, das den Reibbeiwert der Fahrbahn kennzeichnet, kann zur Warnung des Fahrers dienen, jedoch bei einem ABS oder ASR auch bei der Regelung verwendet werden, wobei z.B. Ansprechschwellen umgeschaltet oder spezielle Regelstrategien ausgewählt werden. Bei der Anwendung bei ABS oder ASR werden günstigerweise die Abrollgeräusche beider Fahrzeugseiten ausgewertet. Man kann durch Verwendung dieser Signale eine wesentliche Verbesserung der Re­ gelung erreichen.The signal that characterizes the coefficient of friction of the road surface can be used as a warning of the driver, but also with ABS or ASR in the control are used, e.g. Thresholds switched or special Control strategies can be selected. When using ABS or ASR conveniently evaluated the rolling noise on both sides of the vehicle. Man can significantly improve the Re achieve success.

Zur Reinigung der Mikrophone kann man diese von Zeit zu Zeit als Lautspre­ cher ansteuern.To clean the microphones, you can use them as a loudspeaker from time to time control.

Zusätzlich kann man aus dem Abrollgeräusch auf die Abrollgeschwindigkeit des Reifens schließen. Hierdurch kann man die Funktionsfähigkeit der am Rad angebrachten ABS/ASR Drehzahlfühler überprüfen.In addition, you can switch from the rolling noise to the rolling speed of the tire close. This allows the functionality of the Check wheel mounted ABS / ASR speed sensor.

Claims (3)

1. Verfahren zum Erkennen des Reibbeiwerts zwischen Fahrbahn und Reifen eines Kraftfahrzeugs, dadurch gekennzeichnet, daß die Abrollgeräusche wenigstens eines Reifens mittels eines Mikrophons aufgenommen werden, daß das Frequenzspektrum der aufgenommenen Abrollgeräusche analysiert wird und daß aufgrund wenigstens von Teilen des ermittelten Frequenzspektrums ein den Fahrbahnzustand kennzeichnendes Signal erzeugt wird.1. A method for recognizing the coefficient of friction between the road surface and the tires of a motor vehicle, characterized in that the rolling noise of at least one tire is recorded by means of a microphone, that the frequency spectrum of the recorded rolling noise is analyzed and that, based on at least parts of the determined frequency spectrum, a characteristic of the road condition Signal is generated. 2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß das Signal bei bestimmten festgestellten Fahrbahnzuständen als Warnsignal benutzt wird.2. The method according to claim 1, characterized in that the signal at certain determined road conditions is used as a warning signal. 3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß bei Verwendung in einem Antiblockierregelsystem und/oder einem Antriebsschlupfregel­ system die Abrollgeräusche jeder Fahrzeugseite aufgenommen und analysiert werden, und daß die erzeugten Signale innerhalb der Regelung verwendet werden.3. The method according to claim 1, characterized in that when used in an anti-lock control system and / or a traction control system system recorded and analyzed the rolling noise on each side of the vehicle and that the signals generated are used within the scheme will.
DE19873728708 1987-08-28 1987-08-28 METHOD FOR DETECTING THE FRICTION VALUE Withdrawn DE3728708A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19873728708 DE3728708A1 (en) 1987-08-28 1987-08-28 METHOD FOR DETECTING THE FRICTION VALUE
PCT/EP1988/000672 WO1989001888A1 (en) 1987-08-28 1988-07-21 Process for determining the coefficient of friction

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19873728708 DE3728708A1 (en) 1987-08-28 1987-08-28 METHOD FOR DETECTING THE FRICTION VALUE

Publications (1)

Publication Number Publication Date
DE3728708A1 true DE3728708A1 (en) 1989-03-23

Family

ID=6334667

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19873728708 Withdrawn DE3728708A1 (en) 1987-08-28 1987-08-28 METHOD FOR DETECTING THE FRICTION VALUE

Country Status (2)

Country Link
DE (1) DE3728708A1 (en)
WO (1) WO1989001888A1 (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1316488A2 (en) * 2001-11-30 2003-06-04 Continental Aktiengesellschaft Maximum trasmissible force calculation method and its use for an antilock braking system
EP1431728A1 (en) * 2002-12-19 2004-06-23 DaimlerChrysler AG Method for determining the condition of a road from a travelling vehicle
DE10353481A1 (en) * 2003-11-15 2005-06-16 Daimlerchrysler Ag Car tyre to road friction coefficient measurement procedure uses noise sensors to record rolling noise for band pass spectrum processing and reference comparison
DE10355889A1 (en) * 2003-11-29 2005-06-30 Daimlerchrysler Ag Motor vehicle tire friction coefficient determining method, determining time-dependent position of tire tread pattern by analyzing periodical progress of sound produced by tire rolling on lane using impact sound sensor
DE19545013B4 (en) * 1995-12-02 2005-10-27 Continental Teves Ag & Co. Ohg Method and circuit arrangement for improving the control behavior of a motor vehicle control system
DE102008014513A1 (en) 2008-03-15 2008-10-16 Daimler Ag Vehicle i.e. commercial motor vehicle, tire rolling noise detecting device, has sensor surrounded partially by housing fastened to vehicle, and vibration isolation elements arranged between housing and vehicle body
DE102014115057A1 (en) 2014-10-16 2016-04-21 Valeo Schalter Und Sensoren Gmbh Driver assistance system for assisting a driver of a motor vehicle, motor vehicle and method
DE102015106402A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway based on an echo signal of an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
DE102015106408A1 (en) 2015-04-27 2016-10-27 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Sensor arrangement for detecting a state of a roadway with an ultrasonic sensor, driver assistance system, motor vehicle and associated method
DE102015106400A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a road with at least two ultrasonic sensors, driver assistance system, motor vehicle and associated method
DE102015106404A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway based on a distance value determined by an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
DE102015106401A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a roadway with at least two spaced ultrasonic sensors, driver assistance system, motor vehicle and associated method
DE102015106403A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway based on an echo signal of an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
CN112074757A (en) * 2018-05-02 2020-12-11 罗伯特·博世有限公司 Ultrasound system of a vehicle for determining the state of a lane
DE102019209787A1 (en) * 2019-07-03 2021-01-07 Zf Friedrichshafen Ag Evaluation unit, method, system and computer program product for adapting a longitudinal and / or lateral guidance of a road vehicle to an acoustic determination of static friction and / or sliding friction between at least one tire of the road vehicle and a roadway

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3939917A1 (en) * 1989-12-02 1991-06-06 Bosch Gmbh Robert DEVICE FOR DETERMINING ADHESIVITY BETWEEN VEHICLE TIRES AND ROAD COVER
JP3232520B2 (en) * 1993-09-29 2001-11-26 本田技研工業株式会社 Hydroplaning detector
JP3344951B2 (en) 1998-10-02 2002-11-18 株式会社豊田中央研究所 Physical quantity estimation device and ABS control device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2137688B2 (en) * 1971-07-28 1973-07-19 SLOPE ICE WARNING DEVICE
IE45011B1 (en) * 1976-11-26 1982-06-02 Pcb Controls Ltd Anti-skid control method and system for a brake equipped vehicle wheel
DE3534022A1 (en) * 1985-05-07 1987-03-26 Lucas Ind Plc METHOD FOR DETERMINING THE FRICTION COEFFICIENT BETWEEN TIRES AND ROAD
DE3535843A1 (en) * 1985-10-08 1987-04-16 Bosch Gmbh Robert METHOD FOR CONTINUOUSLY DETERMINING THE FACTORY VALUE (MY)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19545013B4 (en) * 1995-12-02 2005-10-27 Continental Teves Ag & Co. Ohg Method and circuit arrangement for improving the control behavior of a motor vehicle control system
EP1316488A2 (en) * 2001-11-30 2003-06-04 Continental Aktiengesellschaft Maximum trasmissible force calculation method and its use for an antilock braking system
EP1316488A3 (en) * 2001-11-30 2003-11-05 Continental Aktiengesellschaft Maximum trasmissible force calculation method and its use for an antilock braking system
EP1431728A1 (en) * 2002-12-19 2004-06-23 DaimlerChrysler AG Method for determining the condition of a road from a travelling vehicle
US6954146B2 (en) 2002-12-19 2005-10-11 Daimlerchrysler Ag Method for determining a state of a road during the driving mode of a motor vehicle
DE10353481A1 (en) * 2003-11-15 2005-06-16 Daimlerchrysler Ag Car tyre to road friction coefficient measurement procedure uses noise sensors to record rolling noise for band pass spectrum processing and reference comparison
DE10353481B4 (en) * 2003-11-15 2005-09-08 Daimlerchrysler Ag Car tyre to road friction coefficient measurement procedure uses noise sensors to record rolling noise for band pass spectrum processing and reference comparison
DE10355889A1 (en) * 2003-11-29 2005-06-30 Daimlerchrysler Ag Motor vehicle tire friction coefficient determining method, determining time-dependent position of tire tread pattern by analyzing periodical progress of sound produced by tire rolling on lane using impact sound sensor
DE102008014513A1 (en) 2008-03-15 2008-10-16 Daimler Ag Vehicle i.e. commercial motor vehicle, tire rolling noise detecting device, has sensor surrounded partially by housing fastened to vehicle, and vibration isolation elements arranged between housing and vehicle body
DE102014115057A1 (en) 2014-10-16 2016-04-21 Valeo Schalter Und Sensoren Gmbh Driver assistance system for assisting a driver of a motor vehicle, motor vehicle and method
DE102015106400A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a road with at least two ultrasonic sensors, driver assistance system, motor vehicle and associated method
WO2016173847A1 (en) 2015-04-27 2016-11-03 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a roadway using an ultrasonic sensor, a driver assistance system, a motor vehicle, and an associated method
DE102015106402A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway based on an echo signal of an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
DE102015106404A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway based on a distance value determined by an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
DE102015106401A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a roadway with at least two spaced ultrasonic sensors, driver assistance system, motor vehicle and associated method
DE102015106403A1 (en) 2015-04-27 2016-10-27 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway based on an echo signal of an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
WO2016173945A1 (en) 2015-04-27 2016-11-03 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a roadway, comprising at least two ultrasonic sensors spaced apart from one another, a driver assistance system, a motor vehicle, and an associated method
DE102015106408A1 (en) 2015-04-27 2016-10-27 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Sensor arrangement for detecting a state of a roadway with an ultrasonic sensor, driver assistance system, motor vehicle and associated method
US10160454B2 (en) 2015-04-27 2018-12-25 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a road with at least two ultrasound sensors arranged apart from one another, driver assistance system, motor vehicle and associated method
US10549734B2 (en) 2015-04-27 2020-02-04 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a state of a roadway using an ultrasonic sensor, a driver assistance system, a motor vehicle, and an associated method
DE102015106400B4 (en) 2015-04-27 2023-11-02 Valeo Schalter Und Sensoren Gmbh Sensor arrangement for detecting a condition of a road with at least two ultrasonic sensors, driver assistance system, motor vehicle and associated method
DE102015106404B4 (en) 2015-04-27 2022-12-22 Valeo Schalter Und Sensoren Gmbh Method for detecting a state of a roadway using a distance value determined with an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle
CN112074757A (en) * 2018-05-02 2020-12-11 罗伯特·博世有限公司 Ultrasound system of a vehicle for determining the state of a lane
DE102019209787A1 (en) * 2019-07-03 2021-01-07 Zf Friedrichshafen Ag Evaluation unit, method, system and computer program product for adapting a longitudinal and / or lateral guidance of a road vehicle to an acoustic determination of static friction and / or sliding friction between at least one tire of the road vehicle and a roadway

Also Published As

Publication number Publication date
WO1989001888A1 (en) 1989-03-09

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Legal Events

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8141 Disposal/no request for examination