JP5995040B2 - 路面摩擦係数推定装置及び方法 - Google Patents

路面摩擦係数推定装置及び方法 Download PDF

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Publication number
JP5995040B2
JP5995040B2 JP2011209295A JP2011209295A JP5995040B2 JP 5995040 B2 JP5995040 B2 JP 5995040B2 JP 2011209295 A JP2011209295 A JP 2011209295A JP 2011209295 A JP2011209295 A JP 2011209295A JP 5995040 B2 JP5995040 B2 JP 5995040B2
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Japan
Prior art keywords
tire
friction coefficient
slip angle
road surface
cornering force
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JP2011209295A
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Japanese (ja)
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JP2013067354A5 (enExample
JP2013067354A (ja
Inventor
達磨 河内
達磨 河内
裕二 狩集
裕二 狩集
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JTEKT Corp
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JTEKT Corp
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Publication date
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Priority to JP2011209295A priority Critical patent/JP5995040B2/ja
Priority to US13/622,605 priority patent/US9242625B2/en
Priority to EP12185347.7A priority patent/EP2572947B1/en
Priority to CN201210359140.9A priority patent/CN103112454B/zh
Publication of JP2013067354A publication Critical patent/JP2013067354A/ja
Publication of JP2013067354A5 publication Critical patent/JP2013067354A5/ja
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    • 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
    • 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
    • B60T2210/124—Roads with different friction levels
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Power Steering Mechanism (AREA)
JP2011209295A 2011-09-26 2011-09-26 路面摩擦係数推定装置及び方法 Active JP5995040B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2011209295A JP5995040B2 (ja) 2011-09-26 2011-09-26 路面摩擦係数推定装置及び方法
US13/622,605 US9242625B2 (en) 2011-09-26 2012-09-19 Road friction coefficient estimating unit and road friction coefficient estimating method
EP12185347.7A EP2572947B1 (en) 2011-09-26 2012-09-21 Road friction coefficient estimating unit and road friction coefficient estimating method
CN201210359140.9A CN103112454B (zh) 2011-09-26 2012-09-24 路面摩擦系数推算装置以及方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011209295A JP5995040B2 (ja) 2011-09-26 2011-09-26 路面摩擦係数推定装置及び方法

Publications (3)

Publication Number Publication Date
JP2013067354A JP2013067354A (ja) 2013-04-18
JP2013067354A5 JP2013067354A5 (enExample) 2014-12-04
JP5995040B2 true JP5995040B2 (ja) 2016-09-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011209295A Active JP5995040B2 (ja) 2011-09-26 2011-09-26 路面摩擦係数推定装置及び方法

Country Status (4)

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US (1) US9242625B2 (enExample)
EP (1) EP2572947B1 (enExample)
JP (1) JP5995040B2 (enExample)
CN (1) CN103112454B (enExample)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105083292B (zh) * 2015-09-10 2017-10-13 吉林大学 一种预估未知路面摩擦系数的方法
CN105334158B (zh) * 2015-11-28 2018-01-09 重庆交通大学 一种路面摩擦系数检测系统
US10011284B2 (en) 2016-07-13 2018-07-03 Mitsubishi Electric Research Laboratories, Inc. System and method for determining state of stiffness of tires of vehicle
EP3398825B1 (en) * 2017-05-03 2020-03-11 Volvo Car Corporation Method and system for computing a road friction estimate
KR102373870B1 (ko) * 2017-09-27 2022-03-15 현대모비스 주식회사 전동식 조향장치의 노면상태 감지장치 및 그 제어방법
CN109029838B (zh) * 2018-04-30 2024-04-12 交通运输部公路科学研究所 用于横向摩擦力校准的恒拉力牵引装置
US11498613B2 (en) * 2019-02-14 2022-11-15 Steering Solutions Ip Holding Corporation Road friction coefficient estimation using steering system signals
KR20210070014A (ko) * 2019-12-04 2021-06-14 현대자동차주식회사 노면의 마찰계수 추정 장치 및 그 방법
JP7493598B2 (ja) 2019-12-10 2024-05-31 ボルボトラックコーポレーション オンボード路面摩擦推定
JP7247950B2 (ja) * 2020-04-30 2023-03-29 トヨタ自動車株式会社 車両用ステアリングシステム
US12448035B2 (en) * 2021-04-16 2025-10-21 Volvo Truck Corporation Method for in-motion friction estimation based on steering pulses, computer program, computer readable medium, control device and vehicle
IT202100020948A1 (it) * 2021-08-03 2023-02-03 Ferrari Spa Apparato e metodo per stimare un fattore di aderenza di una ruota di un veicolo stradale e relativo veicolo stradale
DE102021212792B3 (de) * 2021-11-15 2023-03-02 Magna Pt B.V. & Co. Kg Verfahren zur Ermittlung eines Fahrbahn-Reibwerts
CN114594045A (zh) * 2022-03-10 2022-06-07 重庆交通大学 路面摩擦性能连续式检测仪
WO2024228221A1 (en) * 2023-05-04 2024-11-07 Pirelli Tyre S.P.A. Method and system for estimating the interaction between tyre and road surface

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0312096B1 (en) * 1987-10-15 1992-12-30 Mazda Motor Corporation Friction detecting device for vehicles
JP2002331951A (ja) * 2001-05-09 2002-11-19 Toyota Central Res & Dev Lab Inc 路面摩擦係数推定装置
JP4397760B2 (ja) 2004-08-20 2010-01-13 本田技研工業株式会社 路面摩擦係数の推定方法
JP2008126985A (ja) 2006-11-27 2008-06-05 Nissan Motor Co Ltd 車両用操舵制御装置
KR101218884B1 (ko) * 2007-04-17 2013-01-07 닛산 지도우샤 가부시키가이샤 차륜 접지면 마찰 상태 추정을 위한 장치와 방법
CN102112354B (zh) * 2008-06-30 2013-11-06 日产自动车株式会社 路面摩擦系数估计装置和路面摩擦系数估计方法
US8078351B2 (en) * 2008-11-24 2011-12-13 GM Global Technology Operations LLC Estimation of surface lateral coefficient of friction
DE102009022592B4 (de) * 2009-05-26 2020-07-09 Volkswagen Ag Verfahren zur Ermittlung des Fahrbahnreibwerts während des Betriebs eines Kraftfahrzeugs

Also Published As

Publication number Publication date
US9242625B2 (en) 2016-01-26
US20130074576A1 (en) 2013-03-28
CN103112454A (zh) 2013-05-22
CN103112454B (zh) 2016-01-20
JP2013067354A (ja) 2013-04-18
EP2572947A1 (en) 2013-03-27
EP2572947B1 (en) 2016-10-26

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