JP3440488B2 - Road surface condition detection device in vehicle operation support system - Google Patents
Road surface condition detection device in vehicle operation support systemInfo
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- JP3440488B2 JP3440488B2 JP07130293A JP7130293A JP3440488B2 JP 3440488 B2 JP3440488 B2 JP 3440488B2 JP 07130293 A JP07130293 A JP 07130293A JP 7130293 A JP7130293 A JP 7130293A JP 3440488 B2 JP3440488 B2 JP 3440488B2
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- road surface
- data
- friction coefficient
- sampling
- contact type
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Description
【０００１】[0001]
【産業上の利用分野】この発明は、ＡＢＳ（アンチスキ
ッド・ブレーキ・システム）やＴＲＣ（トラクション・
コントロール）やパワーステアリングなどに加えて自動
ブレーキ装置を備えた自動車の操縦支援システムに関
し、特に、走行中の路面とタイヤの摩擦係数（路面μ）
を検出する路面状態検出装置に関する。This invention relates to ABS (anti-skid brake system) and TRC (traction
Control), power steering, etc. in addition to the automatic braking system for automobiles, especially the friction coefficient between the road surface and the tire (road surface μ) during running.
The present invention relates to a road surface state detection device that detects a road surface.
【０００２】[0002]
【従来の技術】自動車の操縦支援システムには次のよう
に機能する自動ブレーキ装置が含まれている。前を走行
する自動車との車間距離をつねに計測していて、適切な
車間距離を保った状態で走行を続けるように、加速およ
び減速を適宜にコントロールする。特に車間距離が急に
小さくなった場合には、適切なタイミングと制動力でブ
レーキをかけ、衝突を回避したり、車間距離が過小にな
るのを防止する。2. Description of the Related Art A vehicle driving assistance system includes an automatic braking device that functions as follows. The vehicle-to-vehicle distance is always measured and the acceleration and deceleration are appropriately controlled so that the vehicle can continue traveling while maintaining an appropriate vehicle-to-vehicle distance. In particular, when the inter-vehicle distance suddenly decreases, braking is applied with appropriate timing and braking force to avoid a collision or prevent the inter-vehicle distance from becoming too short.
【０００３】この種の自動ブレーキ装置では、走行状況
に応じてつねに適切に自動車に制動をかけることが要求
される。そのためには走行中の路面とタイヤとの摩擦係
数（μ）が重要な要素となる。つまり、滑りやすい路面
ほど早めに制動をかける必要があるので、路面μを検出
し、それに応じて自動ブレーキの作動タイミングおよび
制動力を可変制御するようにシステム構成することが望
ましい。In this type of automatic braking device, it is required that the vehicle is always braked appropriately in accordance with the driving situation. For that purpose, the coefficient of friction (μ) between the running road surface and the tire is an important factor. That is, since it is necessary to apply braking earlier to a slippery road surface, it is desirable to configure the system so that the road surface μ is detected and the operation timing and braking force of the automatic brake are variably controlled accordingly.
【０００４】そこで路面μを検出する手段が必要とな
る。従来、次のようなμ検出方式が知られている。Therefore, a means for detecting the road surface μ is required. Conventionally, the following μ detection method is known.
【０００５】路面の光学的性状とμとの相関性に着目
した非接触式の方式である。路面に向けて測定光を照射
するとともにその反射光を受光し、路面の反射レベルを
計測する。この反射レベルから路面μを推定する。ま
た、この非接触式の方式には、上記光学式の他、熱式、
超音波式、電磁波式等のものが公知になっている（特開
平３−１８９２５９号公報、特開平２−２３６４５１号
公報、特開昭５９−１４５６６６号公報、特開平４−１
１０２６１号公報等参照）。 This is a non-contact system in which attention is paid to the correlation between the optical properties of the road surface and μ. The measurement light is emitted toward the road surface and the reflected light is received to measure the reflection level of the road surface. The road surface μ is estimated from this reflection level. Well
In addition, in addition to the above optical type, this non-contact type has a thermal type,
Ultrasonic type, electromagnetic type, etc. have been known (Japanese Patent Application Laid-Open
JP-A-3-189259, JP-A-2-236451
Japanese Laid-Open Patent Publication No. 59-145666 and Japanese Laid-Open Patent Publication No. 4-1.
10261 gazette etc.).
【０００６】路面とタイヤのスリップが実際に生じた
ときに、そのスリップの状態情報を採取し、路面μを求
める方式である。この方式ではＡＢＳあるいはＴＲＣの
制御システムを有効に利用している。よく知られている
ようにＡＢＳあるいはＴＲＣの制御システムでは、車体
速度と車輪速度との差（すなわちスリップ状態）を検出
し、その差データに従ってブレーキ制動力あるいは加速
駆動力を加減している。この制御システムの作動中に、
システム内部情報（車体速度、車輪速度、ブレーキ力あ
るいは駆動力）を所定のアルゴリズムで処理すること
で、相当高精度に路面μを求めることができる。This is a method for obtaining the road surface μ by collecting the state information of the slip when the road surface and the tire actually slip. In this method, the ABS or TRC control system is effectively used. As is well known, in the ABS or TRC control system, the difference between the vehicle body speed and the wheel speed (that is, the slip state) is detected, and the brake braking force or the acceleration driving force is adjusted according to the difference data. During operation of this control system,
By processing the system internal information (vehicle speed, wheel speed, braking force or driving force) with a predetermined algorithm, the road surface μ can be obtained with extremely high accuracy.
【０００７】停車中のハンドリング時（すえ切り時）
の負荷から路面μを求める方式である。パワーステアリ
ング機構にかかる負荷を検出するセンサを設け、その出
力からμを演算する。これも実際の路面とタイヤのμを
相当高精度に求めることができる。When handling while stopped (when stationary)
This is a method of obtaining the road surface μ from the load of. A sensor for detecting the load applied to the power steering mechanism is provided, and μ is calculated from the output thereof. Also in this case, the actual road surface and the μ of the tire can be obtained with considerably high accuracy.
【０００８】[0008]
【発明が解決しようとする課題】路面の光学的性状から
路面μを推定する非接触式の方式は非常に精度が悪
い。対象路面をある程度限定すると、路面の光反射レベ
ルとμとの間に相当の相関性が認められるものの、この
方式だけで実際の様々な路面に対応することは困難で
ある。また、この方式ではタイヤの状態がまったく反映
されない。これは、当該光学式のものに限らず、熱式、
超音波式、電磁波式等の非接触式の方式全般にいえるこ
とである。 The non-contact type method for estimating the road surface μ from the optical characteristics of the road surface is very inaccurate. When the target road surface is limited to some extent, a considerable correlation is recognized between the light reflection level of the road surface and μ, but it is difficult to deal with various actual road surfaces only by this method. Also, this method does not reflect the condition of the tire at all. This is not limited to the optical type, but a thermal type,
It can be applied to all non-contact type systems such as ultrasonic type and electromagnetic type.
And.
【０００９】ＡＢＳあるいはＴＲＣの制御システムの作
動中にそのシステム内部情報から路面μを求める方式
と、すえ切り時のパワーステアリング機構の負荷から路
面μを求める方式では、実際の路面とタイヤの状態を
反映したμを相当高精度に求めることができる。しか
し、これらの方式では必要なときに現状のμを即座に求
めることができるわけではなく、ＡＢＳ作動時あるいは
ＴＲＣ作動時あるいはすえ切り時についでにμをサンプ
リングするのである。従って、前述した自動ブレーキ装
置に路面μを提供する検出手段として方式とだけに
依存することはできない。In the method of obtaining the road surface μ from the system internal information during the operation of the ABS or TRC control system and the method of obtaining the road surface μ from the load of the power steering mechanism during stationary steering, the actual road surface and tire condition are The reflected μ can be obtained with considerably high accuracy. However, in these methods, it is not possible to immediately obtain the current μ when necessary, but μ is sampled during the ABS operation, TRC operation, or stationary operation. Therefore, it is not possible to rely solely on the method as the detection means for providing the road surface μ to the above-mentioned automatic braking device.
【００１０】この発明は前述した従来の問題点に鑑みな
されたもので、その目的は、できるだけ高精度な路面μ
を連続的に検出することができるようにした路面状態検
出装置を提供することにある。The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to make the road surface μ as accurate as possible.
It is an object of the present invention to provide a road surface state detecting device capable of continuously detecting roads.
【００１１】[0011]
【課題を解決するための手段】この発明の路面状態検出
装置は、光や電磁波や超音波などにより非接触式で路面
の性状を連続的に検出する非接触式検出手段と、路面と
タイヤのスリップ時にそのスリップ関連情報に基づいて
路面とタイヤの摩擦係数を求める摩擦係数サンプリング
手段と、該非接触式検出手段の出力データと該サンプリ
ング手段によりサンプリングされる摩擦係数データとを
処理するデータ処理部とを備え、 該データ処理部は、該
サンプリング手段によりときどきサンプリングされる摩
擦係数データと前記非接触式検出手段の出力データとを
対比させることで前記出力データと前記摩擦係数との相
関性を学習する学習手段と、この学習手段による学習結
果に基づいて前記非接触式検出手段の出力データから摩
擦係数の疑似データを求める演算手段とからなり、前記
サンプリング直後の一定時間は該サンプリング手段から
の摩擦係数データを出力し、それ以外は非接触式検出手
段からのデータに基づいた摩擦係数の疑似データを出力
することを特徴とする。 A road surface condition detecting device of the present invention is a non-contact type detecting means for continuously detecting the property of a road surface in a non-contact manner by light, electromagnetic waves, ultrasonic waves, etc., and a road surface and a tire. At the time of slip, friction coefficient sampling means for obtaining the friction coefficient between the road surface and the tire based on the slip-related information, output data of the non-contact type detection means, and the sample
Friction coefficient data sampled by
And a data processing unit for processing, wherein the data processing unit compares the friction coefficient data sampled by the sampling unit from time to time with the output data of the non-contact type detection unit. consists of a learning means for learning the correlation between the friction coefficient, and calculation means for obtaining the pseudo-coefficient of friction from the output data of the non-contact type detecting means based on the learning result by the learning means, wherein
From the sampling means for a certain time immediately after sampling
The friction coefficient data of the
Outputs pseudo data of friction coefficient based on the data from the step
It is characterized by doing.
【００１２】[0012]
【作用】前記サンプリング手段でときどきサンプリング
される比較的正確な路面μデータに基づいて、前記非接
触式検出手段の出力を処理する前記演算手段を随時校正
し、前記疑似データの精度を高める。前記サンプリング
直後の一定時間は該サンプリング手段からの摩擦係数デ
ータを出力し、それ以外の非サンプリング期間において
は前記疑似データを出力する。The arithmetic means for processing the output of the non-contact type detecting means is calibrated as needed based on the relatively accurate road surface μ data sampled by the sampling means from time to time to improve the accuracy of the pseudo data. The sampling
Immediately after that, the friction coefficient data from the sampling means is
Data is output, and the pseudo data is output during the other non-sampling periods.
【００１３】[0013]
【実施例】この発明の一実施例による路面状態検出装置
の概略構成を図１に示している。この実施例における操
縦支援システムは、ＡＢＳ制御部１と、ＴＲＣ制御部２
と、パワーステアリング機構３と、自動ブレーキ装置７
を含んでいる。μ算出部４は前記摩擦係数サンプリング
手段に相当するもので、次の（ａ）（ｂ）（ｃ）のよう
に路面μを求める。EXAMPLES shows a schematic configuration of a road surface state detection device according to an embodiment of the present invention in FIG. The maneuvering support system in this embodiment includes an ABS control unit 1 and a TRC control unit 2.
, Power steering mechanism 3, and automatic braking device 7
Is included. The μ calculator 4 corresponds to the friction coefficient sampling means, and determines the road surface μ as in the following (a), (b) and (c).
【００１４】（ａ）ＡＢＳ制御部１の作動時に、車体速
度と車輪速度とブレーキ制御情報とに基づいて路面μを
算出する。(A) When the ABS control unit 1 is operated, the road surface μ is calculated based on the vehicle body speed, the wheel speed and the brake control information.
【００１５】（ｂ）ＴＲＣ制御部２の作動時に、車体速
度と車輪速度と駆動力制御情報とに基づいて路面μを算
出する。(B) When the TRC control unit 2 is operated, the road surface μ is calculated based on the vehicle body speed, the wheel speed, and the driving force control information.
【００１６】（ｃ）ステアリングのすえ切り時に、舵角
とパワーステアリング機構３に加わる負荷情報とに基づ
いて路面μを算出する。(C) When the steering wheel is steered, the road surface μ is calculated based on the steering angle and the load information applied to the power steering mechanism 3.
【００１７】また、前述の非接触式検出手段として光電
センサ５を備えている。光電センサ５は、車両から路面
に向けて所定方向に測定光線を照射するとともに、路面
からの反射光を受光し、路面の光反射レベルを検出する
ものである。データ処理部６は前記学習手段と前記演算
手段を含んでおり、光電センサ５の出力から疑似μを以
下のように算出する。Further, a photoelectric sensor 5 is provided as the above-mentioned non-contact type detecting means. The photoelectric sensor 5 emits a measurement light beam in a predetermined direction from the vehicle toward the road surface, receives the reflected light from the road surface, and detects the light reflection level of the road surface. The data processing unit 6 includes the learning unit and the calculation unit, and calculates the pseudo μ from the output of the photoelectric sensor 5 as follows.
【００１８】μ算出部４でμ値がサンプリングされたと
き、そのμ値をＹ１とし、そのときの光電センサ５の出
力値をＸ１とする。次にサンプリングされたμ値をＹ２
とし、そのときの光電センサ５の出力値をＸ２とする。
このようにサンプリングされるデータＹｉと同時期のデ
ータＸｉ（ｉ＝１，２，３，…）とのデータ対の最新の
何点かをデータ処理部６で順次処理し、光電センサ５の
出力値Ｘとμ値Ｙとの相関関数Ｙ＝Ｆ（Ｘ）を求め、か
つその関数を最新のデータに基づいて逐次更新してい
く。When the μ value is sampled by the μ calculator 4, the μ value is set to Y1 and the output value of the photoelectric sensor 5 at that time is set to X1. Next, the sampled μ value is Y2
And the output value of the photoelectric sensor 5 at that time is X2.
The data processing unit 6 sequentially processes the latest several points of the data pair of the data Yi sampled in this way and the data Xi (i = 1, 2, 3, ...) At the same time, and outputs the photoelectric sensor 5. A correlation function Y = F (X) between the value X and the μ value Y is obtained, and the function is sequentially updated based on the latest data.
【００１９】データ処理部６は、μ算出部４にてμ値が
サンプリングされた直後の一定時間はそのμ値を自動ブ
レーキ装置７に供給し、それ以外の期間は光電センサ５
の出力値Ｘから前記相関関数Ｙ＝Ｆ（Ｘ）により疑似μ
値を計算し、その疑似μ値を自動ブレーキ装置７に供給
する。なお、本実施形態では非接触式検出手段として光
電センサを採用した例を示しているが、公知の超音波セ
ンサあるいは電磁波センサを用いても良い。周知のよう
に、光電センサでは路面の反射光を受光することによっ
て、路面の濡れや凹凸、凍結状態が検知でき、超音波セ
ンサでは路面の凹凸、積雪、軟硬状態が検知でき、電磁
波センサでは凹凸状態が検知できる。ここで、これらの
センサーは１つでも良いが、種類の異なるものを複数設
けて選択的に疑似μ値を算出するようにした方が種々の
路面状態が検出し得て望ましい。 The data processing unit 6 supplies the μ value to the automatic braking device 7 for a certain period of time immediately after the μ value is sampled by the μ calculating unit 4, and the photoelectric sensor 5 during the other period.
Pseudo μ from the output value X of the above by the correlation function Y = F (X)
The value is calculated, and the pseudo μ value is supplied to the automatic braking device 7. In addition, in this embodiment, a light is used as the non-contact detection means.
Although an example in which an electric sensor is used is shown, a known ultrasonic wave sensor is used.
A sensor or an electromagnetic wave sensor may be used. As you know
In addition, the photoelectric sensor receives light reflected from the road surface.
Can detect wetness, unevenness, and freezing on the road surface, and
The sensor can detect irregularities on the road surface, snow, and soft and hard conditions, and
The wave sensor can detect the uneven state. Where these
You can use one sensor, but you can install multiple sensors of different types.
However, it is better to selectively calculate the pseudo μ value.
It is desirable because the road condition can be detected.
【００２０】[0020]
【発明の効果】以上詳細に説明したように、この発明の
路面状態検出装置では、実際に生じた路面とタイヤのス
リップ時にスリップ関連情報に基づいて比較的正確な摩
擦係数データをサンプリングするとともに、路面の光学
的性状などを光電センサなどの非接触式検出手段で検出
し、ときどきサンプリングされる比較的正確な路面μデ
ータに基づいて前記非接触式検出手段の出力から疑似μ
データを求めて演算手段で随時校正し、疑似μデータの
精度を向上させ、かつ前記サンプリング直後の一定時間
は摩擦係数サンプリング手段からの摩擦係数データを出
力し、それ以外の非サンプリング期間においては前記疑
似データを出力するように構成したので、摩擦係数サン
プリング手段で比較的正確なμデータが間欠的にしか得
られなくても、そのμデータによって随時校正されて精
度が高められた疑似μデータがつねに得られるだけでな
く、前記サンプリング直後の一定時間は摩擦係数サンプ
リング手段からの比較的正確な摩擦係数データを出力す
る一方、それ以外の非サンプリング期間においては前記
疑似データを出力するので、自動ブレーキ装置に有意義
な摩擦係数データを常時提供することができ、この種の
操縦支援システムの信頼性を従来よりさらに向上するこ
とができる。As described in detail above, in the road surface condition detecting device of the present invention, relatively accurate friction coefficient data is sampled based on slip related information when the road surface and the tire actually slip, and The optical properties of the road surface are detected by a non-contact type detecting means such as a photoelectric sensor, and the pseudo μ is output from the output of the non-contact type detecting means based on relatively accurate road surface μ data which is sampled from time to time.
The data is calculated and calibrated at any time by the calculation means to improve the accuracy of the pseudo μ data , and for a fixed time immediately after the sampling.
Outputs the friction coefficient data from the friction coefficient sampling means.
And the above-mentioned suspicion during the other non-sampling periods.
Since it is configured to output similar data, even if relatively accurate μ data can be obtained intermittently by the friction coefficient sampling means, the μ data can be calibrated at any time to improve accuracy. was it only pseudo μ data can be obtained always
For a certain period of time immediately after the sampling, the friction coefficient
Output relatively accurate friction coefficient data from the ring means.
However, during the other non-sampling periods,
Since the pseudo data is output , meaningful friction coefficient data can always be provided to the automatic braking device, and the reliability of this type of steering assist system can be further improved than before.
【図１】この発明の一実施例による路面状態検出装置の
概略構成図である。FIG. 1 is a schematic configuration diagram of a road surface state detecting device according to an embodiment of the present invention.
１ ＡＢＳ制御部 ２ ＴＲＣ制御部 ３ パワーステアリング機構 ４ μ算出部（摩擦係数サンプリング手段） ５ 光電センサ（非接触検出手段） ６ データ処理部（学習手段と演算手段） ７ 自動ブレーキ装置 1 ABS control unit 2 TRC controller 3 Power steering mechanism 4 μ calculator (friction coefficient sampling means) 5 Photoelectric sensor (non-contact detection means) 6 Data processing unit (learning means and calculation means) 7 Automatic braking device
───────────────────────────────────────────────────── フロントページの続き (72)発明者 宮広 栄一 広島県安芸郡府中町新地３番１号 マツ ダ株式会社内 (56)参考文献 特開 平３−189259（ＪＰ，Ａ) 特開 平４−66844（ＪＰ，Ａ) 特開 平２−236451（ＪＰ，Ａ) 特開 昭59−145666（ＪＰ，Ａ) 特開 平４−110261（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B60R 16/02 661 B60T 8/58 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Eiichi Miyahiro 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (56) Reference JP-A-3-189259 (JP, A) JP-A 4-66844 (JP, A) JP-A-2-236451 (JP, A) JP-A-59-145666 (JP, A) JP-A-4-110261 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) B60R 16/02 661 B60T 8/58
Claims (4)
で路面の性状を連続的に検出する非接触式検出手段と、
路面とタイヤのスリップ時にそのスリップ関連情報に基
づいて路面とタイヤの摩擦係数を求める摩擦係数サンプ
リング手段と、該非接触式検出手段の出力データと該サ
ンプリング手段によりサンプリングされる摩擦係数デー
タとを処理するデータ処理部とを備え、 該データ処理部は、該 サンプリング手段によりときどき
サンプリングされる摩擦係数データと前記非接触式検出
手段の出力データとを対比させることで前記出力データ
と前記摩擦係数との相関性を学習する学習手段と、この
学習手段による学習結果に基づいて前記非接触式検出手
段の出力データから摩擦係数の疑似データを求める演算
手段とからなり、前記サンプリング直後の一定時間は該
サンプリング手段からの摩擦係数データを出力し、それ
以外は非接触式検出手段からのデータに基づいた摩擦係
数の疑似データを出力することを特徴とする自動車の操
縦支援システムにおける路面状態検出装置。1. A non-contact type detection means for continuously detecting a road surface property in a non-contact type by light, electromagnetic waves, ultrasonic waves or the like,
When the road surface and the tire slip, the friction coefficient sampling means for obtaining the friction coefficient between the road surface and the tire based on the slip-related information, the output data of the non-contact type detection means and the service
Friction coefficient data sampled by
And a data processing unit for processing the data, the data processing unit, the occasional and the output data by causing comparing the output data of said sampling is the coefficient of friction data noncontact detecting means by said sampling means and learning means for learning the correlation between friction coefficient consists of a computing means for obtaining the pseudo-coefficient of friction from the output data of the non-contact type detecting means based on the learning result by the learning means, a constant after the sampling Time is
Output the friction coefficient data from the sampling means and
Other than the friction coefficient based on data from non-contact detection means
A road surface condition detecting device in a vehicle driving assistance system, which is characterized by outputting a number of pseudo data .
の車体速度、車輪速度、ブレーキ制御情報から前記摩擦
係数を求めることを特徴とする請求項１に記載の自動車
の操縦支援システムにおける路面状態検出装置。2. The road surface state detecting device in a vehicle driving assistance system according to claim 1, wherein the sampling means obtains the friction coefficient from vehicle speed, wheel speed, and brake control information during ABS operation. .
の車体速度、車輪速度、駆動力制御情報から前記摩擦係
数を求めることを特徴とする請求項１に記載の自動車の
操縦支援システムにおける路面状態検出装置。3. The road surface state detection in the vehicle driving assistance system according to claim 1, wherein the sampling means obtains the friction coefficient from vehicle speed, wheel speed, and driving force control information during TRC operation. apparatus.
舵角およびパワーステアリング機構にかかる負荷情報か
ら前記摩擦係数を求めることを特徴とする請求項１に記
載の自動車の操縦支援システムにおける路面状態検出装
置。4. The road surface state detection in the vehicle driving assistance system according to claim 1, wherein the sampling means obtains the friction coefficient from the steering angle during stationary steering and the load information applied to the power steering mechanism. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP07130293A JP3440488B2 (en) | 1993-03-30 | 1993-03-30 | Road surface condition detection device in vehicle operation support system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP07130293A JP3440488B2 (en) | 1993-03-30 | 1993-03-30 | Road surface condition detection device in vehicle operation support system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06281539A JPH06281539A (en) | 1994-10-07 |
| JP3440488B2 true JP3440488B2 (en) | 2003-08-25 |
Family
ID=13456722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP07130293A Expired - Fee Related JP3440488B2 (en) | 1993-03-30 | 1993-03-30 | Road surface condition detection device in vehicle operation support system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3440488B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5179891B2 (en) * | 2008-01-30 | 2013-04-10 | 富士重工業株式会社 | Road friction coefficient estimation device |
| CN102015417B (en) | 2008-04-25 | 2013-02-27 | 株式会社小松制作所 | Steering controller and steering control method of working vehicle |
| JP6572264B2 (en) * | 2017-06-28 | 2019-09-04 | 株式会社Ｓｕｂａｒｕ | Vehicle road friction coefficient estimation apparatus and vehicle road friction coefficient estimation method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59145666A (en) * | 1983-02-08 | 1984-08-21 | Nissan Motor Co Ltd | Pavement state detector and controller employing pavement state detector |
| JPH02236451A (en) * | 1989-03-10 | 1990-09-19 | Japan Radio Co Ltd | Detector for frictional coefficient of road surface |
| GB8918303D0 (en) * | 1989-08-10 | 1989-09-20 | Lucas Ind Plc | Monitoring and predicting road vehicle/road surface conditions |
| JP2564975B2 (en) * | 1990-07-06 | 1996-12-18 | 三菱自動車工業株式会社 | Road friction coefficient detection method |
| JPH04110261A (en) * | 1990-08-29 | 1992-04-10 | Toyota Motor Corp | Road surface state estimating device |
-
1993
- 1993-03-30 JP JP07130293A patent/JP3440488B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06281539A (en) | 1994-10-07 |
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