DE60110992D1 - Vorrichtung für ein Fahrzeug zur Schätzung des Reibwerts der Strasse - Google Patents

Vorrichtung für ein Fahrzeug zur Schätzung des Reibwerts der Strasse

Info

Publication number
DE60110992D1
DE60110992D1 DE60110992T DE60110992T DE60110992D1 DE 60110992 D1 DE60110992 D1 DE 60110992D1 DE 60110992 T DE60110992 T DE 60110992T DE 60110992 T DE60110992 T DE 60110992T DE 60110992 D1 DE60110992 D1 DE 60110992D1
Authority
DE
Germany
Prior art keywords
estimating
road
friction
coefficient
vehicle
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
Application number
DE60110992T
Other languages
English (en)
Other versions
DE60110992T2 (de
Inventor
Masaru Kogure
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.)
Subaru Corp
Original Assignee
Fuji Jukogyo KK
Fuji Heavy Industries Ltd
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 Fuji Jukogyo KK, Fuji Heavy Industries Ltd filed Critical Fuji Jukogyo KK
Publication of DE60110992D1 publication Critical patent/DE60110992D1/de
Application granted granted Critical
Publication of DE60110992T2 publication Critical patent/DE60110992T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G01N19/02—Measuring coefficient of friction between materials
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2720/14—Yaw
    • 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
    • B60W40/072—Curvature of the road
    • 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
    • B60W40/076—Slope angle of the road

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
DE60110992T 2000-10-31 2001-10-26 Vorrichtung für ein Fahrzeug zum Schätzen des Reibwerts der Strasse Expired - Fee Related DE60110992T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000332387 2000-10-31
JP2000332387A JP3236004B1 (ja) 2000-10-31 2000-10-31 車両の路面摩擦係数推定装置

Publications (2)

Publication Number Publication Date
DE60110992D1 true DE60110992D1 (de) 2005-06-30
DE60110992T2 DE60110992T2 (de) 2006-05-04

Family

ID=18808600

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60110992T Expired - Fee Related DE60110992T2 (de) 2000-10-31 2001-10-26 Vorrichtung für ein Fahrzeug zum Schätzen des Reibwerts der Strasse

Country Status (4)

Country Link
US (1) US6618661B2 (de)
EP (1) EP1201522B1 (de)
JP (1) JP3236004B1 (de)
DE (1) DE60110992T2 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3539722B2 (ja) * 2000-11-16 2004-07-07 富士重工業株式会社 車両の路面摩擦係数推定装置
EP1627790B1 (de) * 2004-08-19 2008-02-20 HONDA MOTOR CO., Ltd. Verfahren zur Bestimmung des Reibwerts einer Strassenoberfläche und des Rutschwinkels eines Kraftfahrzeugs
JP5011866B2 (ja) * 2006-01-23 2012-08-29 日産自動車株式会社 横すべり角推定装置、自動車、及び横すべり角推定方法
GB2435102B (en) * 2006-02-11 2011-01-12 Ford Global Tech Llc Friction estimation for vehicle control systems
JP2008109966A (ja) * 2006-10-30 2008-05-15 Bycen Inc 動物動作を定量化する方法、動物動作定量化装置
DE102008012915A1 (de) * 2008-03-06 2009-09-10 Valeo Schalter Und Sensoren Gmbh Verfahren zur Erhöhung der Genauigkeit einer Positionsverfolgung von Fahrzeugen in softwarebasierten Steuerungssytemen
DE102014012685A1 (de) 2014-08-25 2016-02-25 Adrian Mihailescu Verfahren zur aktiven Seitenkraft- und Reibwertschätzung
DE102016204018A1 (de) * 2016-03-11 2017-09-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Querneigung einer Fahrbahn
JP6494671B2 (ja) * 2017-01-13 2019-04-03 本田技研工業株式会社 無段変速機の側圧制御装置
DE102018201462A1 (de) 2018-01-31 2019-08-01 Audi Ag Verfahren zum Betreiben eines Kraftfahrzeugs sowie entsprechendes Kraftfahrzeug
CN109131338B (zh) * 2018-08-31 2021-01-12 北京新能源汽车股份有限公司 一种坡度检测方法、装置及电动汽车
JP7335713B2 (ja) * 2019-03-28 2023-08-30 株式会社Subaru 路面判定装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5216608A (en) * 1990-01-25 1993-06-01 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Apparatus and a method for estimating the friction coefficient of a road surface and controlling a driving condition of a vehicle in accordance with the estimated friction coefficient
JP2890994B2 (ja) * 1992-09-22 1999-05-17 三菱自動車工業株式会社 ファジィ制御式電子制御パワーステアリング装置
US5450919A (en) * 1993-01-12 1995-09-19 Mazda Motor Corporation Differential action control system of a vehicle
JP3268124B2 (ja) * 1994-06-27 2002-03-25 富士重工業株式会社 車両のトルク配分制御装置
JP3469098B2 (ja) * 1997-09-16 2003-11-25 本田技研工業株式会社 電動パワーステアリング装置
US6035251A (en) * 1997-11-10 2000-03-07 General Motors Corporation Brake system control method employing yaw rate and ship angle control
JP2000039289A (ja) 1998-07-22 2000-02-08 Mitsubishi Heavy Ind Ltd 気液二相流体分配器
JP3525429B2 (ja) * 1998-12-25 2004-05-10 トヨタ自動車株式会社 操舵制御装置
JP3271952B2 (ja) * 1999-07-30 2002-04-08 富士重工業株式会社 車両の路面摩擦係数推定装置

Also Published As

Publication number Publication date
JP3236004B1 (ja) 2001-12-04
DE60110992T2 (de) 2006-05-04
US20020072842A1 (en) 2002-06-13
EP1201522B1 (de) 2005-05-25
US6618661B2 (en) 2003-09-09
EP1201522A1 (de) 2002-05-02
JP2002139417A (ja) 2002-05-17

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee