KR20150142225A - Vehicle active safety system - Google Patents

Vehicle active safety system Download PDF

Info

Publication number
KR20150142225A
KR20150142225A KR1020140070619A KR20140070619A KR20150142225A KR 20150142225 A KR20150142225 A KR 20150142225A KR 1020140070619 A KR1020140070619 A KR 1020140070619A KR 20140070619 A KR20140070619 A KR 20140070619A KR 20150142225 A KR20150142225 A KR 20150142225A
Authority
KR
South Korea
Prior art keywords
vehicle
friction coefficient
active safety
road
acceleration
Prior art date
Application number
KR1020140070619A
Other languages
Korean (ko)
Inventor
이경수
한승재
김태우
Original Assignee
서울대학교산학협력단
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 서울대학교산학협력단 filed Critical 서울대학교산학협력단
Priority to KR1020140070619A priority Critical patent/KR20150142225A/en
Priority to PCT/KR2015/005698 priority patent/WO2015190769A1/en
Publication of KR20150142225A publication Critical patent/KR20150142225A/en

Links

Images

Classifications

    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed

Abstract

A vehicle active safety system is disclosed. A vehicle active safety system according to an embodiment of the present invention includes a vehicle speed sensor for measuring a running speed of a vehicle; An acceleration sensor for measuring the acceleration of the vehicle; A friction coefficient estimator for estimating a friction coefficient of the road based on the vehicle speed received from the vehicle speed sensor and the vehicle acceleration received from the acceleration sensor; And a vehicle running active safety device for controlling the running of the vehicle based on the friction coefficient estimated from the friction coefficient estimator.

Description

{VEHICLE ACTIVE SAFETY SYSTEM}

The present invention relates to a vehicle active safety system, and more particularly, to a vehicle active safety system for estimating and using a coefficient of friction of a road.

A method of estimating the coefficient of friction between a tire and a road surface has been studied. However, the conventional methods can be applied in a situation where the mechanical properties of automobiles and tires are fully known, and the friction coefficient can not be estimated in a situation where the mechanical characteristics of the automobile and the tire are not fully understood.

In addition, variables such as tire wear, tire air pressure, vehicle speed, and noise generation due to the operation of the ABS can affect the estimation of the coefficient of friction of the road surface. Therefore, it has a characteristic that it is not suitable as a general estimation method capable of coping with various vehicle types, tires, and road surface conditions.

Therefore, there is a need for a technology capable of estimating the coefficient of friction of the road by incorporating various signals and information that can be obtained by a car under a reasonable assumption, and reflecting it on the active safety system of the vehicle.

An embodiment of the present invention provides a vehicle active safety system for estimating a coefficient of friction of a road surface using various signals and information that a vehicle can obtain and controlling the vehicle active safety device using the coefficient.

In order to achieve the above object, a vehicle active safety system according to the present invention is a vehicle active safety system,

A vehicle speed sensor for measuring the running speed of the vehicle; An acceleration sensor for measuring an acceleration of the vehicle; A friction coefficient estimator for estimating a friction coefficient of the road based on the vehicle speed received from the vehicle speed sensor and the vehicle acceleration received from the acceleration sensor; And a vehicle running active safety device for controlling the running of the vehicle based on the estimated friction coefficient from the friction coefficient estimator.

The vehicle active safety system may further comprise a windshield wiper switch and a rain sensor, wherein the friction coefficient estimator is operable to detect an operating signal of the windshield wiper switch, It may be to estimate the friction coefficient.

The vehicle active safety system may further include: a GPS module for obtaining positional information of the vehicle; And a communication module for communication between the vehicle and the roadside apparatus, wherein the friction coefficient estimator calculates a friction coefficient of the road based on the position information obtained from the GPS module and the road information or weather information obtained from the communication module . ≪ / RTI >

The friction coefficient estimator may estimate the friction coefficient of the road based on at least one of the road information and the weather information obtained from the communication module when the GPS module is not operating.

In addition, the vehicle running active safety device may be any one of an Advanced Emergency Braking System (AEBS), an Emergency Steering Assist (ESA), and a Collision Avoidance System.

Another vehicle active safety system according to the present invention is a vehicle active safety system,

A vehicle speed sensor for measuring the running speed of the vehicle; An acceleration sensor for measuring an acceleration of the vehicle; Windshield wiper switch; A rain sensor; A GPS module for obtaining positional information of the vehicle; A communication module for communication between the vehicle and the roadside apparatus; A friction coefficient estimator for estimating a friction coefficient of the road; And a vehicle running active safety device for controlling the running of the vehicle on the basis of the friction coefficient estimated from the friction coefficient estimator,

Wherein the friction coefficient estimator is configured to calculate a friction coefficient based on a vehicle speed received from the vehicle speed sensor, a vehicle acceleration received from the acceleration sensor, an operation signal of the windshield wiper switch, a signal measured by the rain sensor, And estimating a friction coefficient based on at least one of road information or weather information obtained from the communication module.

The present invention can actively control the vehicle according to the road surface condition by estimating the coefficient of friction of the road surface using various signals and information that the vehicle can obtain and reflecting the coefficient of friction on the control of the vehicle active safety device.

1 is a block diagram of a vehicle active safety system in accordance with an embodiment of the present invention.
2 is a block diagram of a vehicle active safety system in accordance with another embodiment of the present invention.
3 is a block diagram of a vehicle active safety system in accordance with another embodiment of the present invention.
4 is a flowchart of a friction coefficient estimation method according to an embodiment of the present invention.
5 is a flowchart of a friction coefficient estimation method according to another embodiment of the present invention.
6 is a flowchart of a friction coefficient estimation method according to another embodiment of the present invention.
7 is a flowchart of a friction coefficient estimation method according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a vehicle active safety system in accordance with an embodiment of the present invention. Referring to FIG. 1, the vehicle active safety system 100 shown in FIG. 1 is provided for estimating a friction coefficient of a road surface and reflecting the coefficient of friction on the control of the vehicle active safety device. The vehicle active safety system 100 includes an ABS module 110, an acceleration sensor 120, a friction coefficient estimator 130, and an active safety device 140.

The ABS module 110 is an abbreviation of Anti-lock Brake System and is for preventing the locking of the wheel when the vehicle suddenly brakes and at the same time the slip rate is large. The ABS module 110 controls the braking pressure in accordance with the adhesion between the road surface and the tire. The ABS module 110 receives the measured vehicle speed from the wheel speed sensor attached to the wheel, and transmits it to various electronic devices such as the ECU of the vehicle. In the present embodiment, the ABS module 110 transmits the vehicle speed information received from the vehicle speed sensor to the friction coefficient estimator 130.

The acceleration sensor 120 is provided to detect an acceleration applied to the vehicle. The acceleration information measured by the acceleration sensor 120 may include an ESC (Electrical Stability Control), an ABS device, a VDC ). ≪ / RTI > In the present embodiment, the acceleration sensor 120 transmits the measured acceleration information to the friction coefficient estimator 130.

The friction coefficient estimator 130 is provided to measure the friction coefficient of the road surface on which the vehicle travels. The friction coefficient estimator 130 combines the signal indicating whether the ABS module 110 is operated, the vehicle speed information received from the ABS module 110, and the vehicle acceleration signal received from the acceleration sensor 120, And judges whether the road on which the current vehicle passes is a low friction road surface or a high friction road surface.

The active safety device 140 is provided to safely control the running of the vehicle, and controls the vehicle based on the estimated friction coefficient of the road surface from the friction coefficient estimator 130. The active safety device may be any one of an Advanced Emergency Braking System (AEBS), an Emergency Steering Assist (ESA), and a Collision Avoidance System.

The automatic emergency braking device is a device for alleviating or avoiding a collision by detecting a running or stopping vehicle in front of the driving lane and giving a warning to the driver and automatically braking the vehicle. The emergency steering assist system appropriately adjusts the power required by the driver to turn the steering wheel, thereby making the steering operation easy and safe in emergency situations. In addition, the collision avoidance system is a device for preventing a frontal collision when the driver is not able to properly react due to an obstacle on the traveling path of the vehicle, and analyzes the movement time of the forward vehicle and the time until a potential collision to avoid collision .

In the present embodiment, the active safety device 140 uses the coefficient of friction of the road surface estimated from the friction coefficient estimator 130, thereby making it possible to more safely and actively take into account the situation of the road surface in an emergency, Can be controlled.

2 is a block diagram of a vehicle active safety system in accordance with another embodiment of the present invention.

Referring to FIG. 2, the vehicle active safety system 200 shown in FIG. 2 is provided for estimating the friction coefficient of the road surface and reflecting the coefficient of friction on the control of the vehicle active safety device. The vehicle active safety system 200 includes an ABS module 110, an acceleration sensor 120, a friction coefficient estimator 230, a wiper switch 250, a rain sensor 260, and an active safety device 140 . In this embodiment, the ABS module 110, the acceleration sensor 120, and the active safety device 140 are the same as those in the above-described embodiment, and thus a detailed description thereof will be omitted and only differences from the above- .

In the vehicle active safety system 200 according to the present embodiment, in a situation where the ABS module 110 and the acceleration sensor 120 do not operate normally, The operating condition of the wiper is additionally utilized.

The wiper switch 250 is a switch for controlling the operation of the windshield wiper for cleaning the windshield of the vehicle when the vehicle is raining. The ON / OFF operation of the wiper switch 250 determines whether the windshield wiper operates. Generally, the rain sensor 260 is attached to a windshield of a vehicle. Even if the driver does not operate the windshield wiper separately, the rain sensor 260 automatically detects the intensity and amount of rainwater and automatically controls the speed or operation timing of the windshield wiper .

The friction coefficient estimator 230 determines that the acceleration sensor 120 does not operate normally when the ABS module 110 does not operate or the vehicle speed can not be obtained from the ABS module 110, The friction coefficient of the current road surface is estimated through the operation of the windshield wiper switch 250 and the amount of rainfall obtained from the rain sensor 260 and transmitted to the active safety device 140 do. When the ABS module 110 and the acceleration sensor 120 operate normally, the vehicle speed obtained from the ABS module 110, the acceleration information of the vehicle obtained from the acceleration sensor 120, An operation signal of the wiper switch 250 and rainfall information obtained from the rain sensor 260 are used. Therefore, by using the weather information together with the dynamic characteristics information of the vehicle, the coefficient of friction of the current road surface can be estimated effectively.

3 is a block diagram of a vehicle active safety system in accordance with another embodiment of the present invention.

Referring to FIG. 3, the vehicle active safety system 300 shown in FIG. 3 is provided for estimating a friction coefficient of a road surface and reflecting the coefficient of friction on the control of the vehicle active safety device.

 The vehicle active safety system 300 includes an ABS module 110, an acceleration sensor 120, a friction coefficient estimator 330, a wiper switch 250, a rain sensor 260, a GPS module 370, a V2I communication module 380), and an active safety device (140). Since the ABS module 110, the acceleration sensor 120, the wiper switch 250, the rain sensor 260 and the active safety device 140 are the same as those in the above-described embodiment, detailed description will be omitted, Only differences from the above-described embodiment will be described.

In the vehicle active safety system 300 according to the present embodiment, when the ABS module 110 and the acceleration sensor 120 are not operating normally, The friction coefficient of the current road surface can be estimated effectively by utilizing the position information of the vehicle and the road information based on the operating state of the wiper of the vehicle and the GPS and the V2I communication (Vehicle-to-Infrastructure).

The GPS module 370 is provided to measure the current position of the vehicle while driving through a signal from the satellite. The position information measured by the GPS module 370 is transmitted to the friction coefficient estimator 330.

The V2I communication module 380 is a communication module for communication between the vehicle and the roadside apparatus during driving. The V2I communication module 380 is provided for obtaining road surface information of the road in which the vehicle is running. The V2I communication module 380 communicates with the roadside apparatus installed on the road around the road in which the vehicle is running so that the road surface information of the road, for example, whether the current road is an asphalt road, a cement road, an unpaved road, The position and the road information system can be utilized to grasp the situation of the road surface. The information obtained by the V2I communication module 380 is transmitted to the friction coefficient estimator 330. When the weather information can be obtained from the V2I communication module 380, the friction coefficient estimator 330 estimates the current weather information and the current weather information using the humidity, weather forecast, temperature, Estimate the current state of the road using past weather information. For example, the friction coefficient estimator 330 may determine the current road condition as dry, wet, snow, or ice, and estimate the estimated friction coefficient corresponding thereto .

The friction coefficient estimator 330 determines that the ABS sensor 110 does not operate or can not obtain the vehicle speed from the ABS module 110 because the acceleration sensor 120 does not operate normally, It is difficult to estimate the friction between the road surface and the road surface using the windshield wiper switch 250 operation, the amount of rainfall obtained from the rain sensor 260, and the road surface state through GPS information and V2I communication The coefficient can be estimated effectively. When the ABS module 110 and the acceleration sensor 120 operate normally, the vehicle speed obtained from the ABS module 110, the acceleration information of the vehicle obtained from the acceleration sensor 120, An operation signal of the wiper switch 250, rainfall information obtained from the rain sensor 260, and road surface information through GPS information and V2I communication. Therefore, by utilizing the information of the weather information and the road surface state in addition to the dynamic characteristics information of the vehicle, the friction coefficient of the current road surface can be estimated effectively.

4 is a flowchart of a friction coefficient estimation method according to an embodiment of the present invention.

Referring to FIG. 4, in the friction coefficient estimating method according to an embodiment of the present invention, the friction coefficient estimator first estimates the current road condition as μ = 0.9, which is a coefficient of friction in dry asphalt as a default value (S110). After obtaining the acceleration signal through the acceleration sensor (S120), the vehicle speed is obtained from the ABS operation module (S130), and the friction coefficient of the current road is estimated using the vehicle acceleration and the vehicle speed (S140). Next, the friction coefficient estimator transmits the estimated friction coefficient to the active safety device (S150).

5 is a flowchart of a friction coefficient estimation method according to another embodiment of the present invention.

5, in the friction coefficient estimating method according to the embodiment of the present invention, the friction coefficient estimator first estimates the current road condition as μ = 0.9, which is a coefficient of friction in dry asphalt as a default value (S210). If it is determined that the GPS module is operating normally (S220), the position information of the vehicle obtained from the GPS module is updated (S230). If the GPS module is operating normally, The current road information is updated using the road information database (S240). If the GPS module does not operate normally, it is determined whether the V2I communication module is operating normally (S222). If the V2I communication module operates normally, the location information of the vehicle obtained from the V2I communication module is updated (S232) , The current road state is updated using the updated vehicle location information and the road information database built in the friction coefficient estimator (S240).

Next, the friction coefficient estimator first determines whether the current road is asphalt (S250). If the road is asphalt, the asphalt friction coefficient μ = 0.9 is not changed. On the other hand, if the current road is determined as cement (S252), the friction coefficient estimator sets an estimated value (μ cement ) as a coefficient of friction corresponding to the cement road (S256) ). If the friction coefficient estimator determines that the current road is not to be unpacked (S254), the estimated value (mu offroad ) is set to the friction coefficient corresponding to the unpacked road (S258), and this value is transmitted to the active safety device S260).

6 is a flowchart of a friction coefficient estimation method according to another embodiment of the present invention.

Referring to FIG. 6, in the friction coefficient estimating method according to an embodiment of the present invention, the friction coefficient estimator first estimates the current road condition as μ = 0.9, which is a coefficient of friction in dry asphalt as a default value (S310). Next, it is determined whether the current weather condition is snowfall using the wiper switch operation signal and the signal from the rain sensor (S320). If it is determined to be snowfall, the estimated value ( snow ) is set as a coefficient of friction corresponding to snowfall (S330), and the calculated value is transmitted to the active safety device (S340). If the current weather condition is determined to be rainfall (S322), the friction coefficient estimator determines whether the temperature is below zero (S324). If the temperature is below zero, the friction coefficient estimator determines the friction coefficient corresponding to the sub- setting the μ ice) and (S326), and is set to the estimated value (μ wet) with a friction coefficient for the image temperature when the temperature image (S328). Next, the friction coefficient estimator transmits the estimated friction coefficient value to the active safety device (S340).

7 is a flowchart of a friction coefficient estimation method according to another embodiment of the present invention.

Referring to FIG. 7, in the friction coefficient estimating method according to an embodiment of the present invention, the friction coefficient estimator first estimates the current road condition as μ = 0.9, which is a coefficient of friction in dry asphalt as a default value (S410). If the ABS module operates normally, it is determined whether the ABS module is operated (S420). In operation S430, the road friction coefficient is estimated using the vehicle speed and acceleration information from the ABS module. If the ABS module is not operating normally, it is determined whether the GPS module or the V2I communication module operates (S422). If the GPS module or the V2I communication module operates normally, the position information acquired from the GPS module or the V2I communication module The state of the road is determined and the friction coefficient is estimated (S432). If the ABS module does not operate and the GPS module and the V2I communication module do not operate normally, it is determined whether the operation signal of the wiper switch and the rain sensor operate normally (S424). If the operation of the wiper switch and the weather information To estimate the friction coefficient of the road (S434). Next, the friction coefficient estimator transmits the estimated friction coefficient value to the active safety device (S440).

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100, 200, 300: Vehicle active safety system
110: ABS module 120: Acceleration sensor
130, 230, 330: Friction coefficient estimator 140: Active safety device
250: Wiper switch 260: Rain sensor
370: GPS module 380: V2I communication module

Claims (6)

As a vehicle active safety system,
A vehicle speed sensor for measuring the running speed of the vehicle;
An acceleration sensor for measuring an acceleration of the vehicle;
A friction coefficient estimator for estimating a friction coefficient of the road based on the vehicle speed received from the vehicle speed sensor and the vehicle acceleration received from the acceleration sensor; And
And a vehicle running active safety device for controlling the running of the vehicle based on the friction coefficient estimated from the friction coefficient estimator. The method according to claim 1,
The vehicle active safety system further includes a windshield wiper switch and a rain sensor,
Wherein the friction coefficient estimator estimates the coefficient of friction of the road based on the signal from the windshield wiper switch and the signal from the rain sensor. The method according to claim 1,
The vehicle active safety system comprises:
A GPS module for obtaining positional information of the vehicle; And
Further comprising a communication module for communication between the vehicle and the roadside apparatus,
Wherein the friction coefficient estimator estimates the friction coefficient of the road based on the position information obtained from the GPS module and the road information or weather information obtained from the communication module. The method of claim 3,
Wherein the friction coefficient estimator estimates a friction coefficient of the road based on at least one of road information and weather information obtained from the communication module when the GPS module is not operating. The method according to any one of claims 1 to 4,
Wherein the vehicle drive active safety device is any one of an Advanced Emergency Braking System (AEBS), an Emergency Steering Assist (ESA), and a Collision Avoidance System . As a vehicle active safety system,
A vehicle speed sensor for measuring the running speed of the vehicle;
An acceleration sensor for measuring an acceleration of the vehicle;
Windshield wiper switch;
A rain sensor;
A GPS module for obtaining positional information of the vehicle;
A communication module for communication between the vehicle and the roadside apparatus;
A friction coefficient estimator for estimating a friction coefficient of the road; And
And a vehicle running active safety device for controlling the running of the vehicle on the basis of the friction coefficient estimated from the friction coefficient estimator,
Wherein the friction coefficient estimator comprises:
A vehicle speed received from the vehicle speed sensor, a vehicle acceleration received from the acceleration sensor, an operation signal of the windshield wiper switch, a signal measured by the rain sensor, position information obtained from the GPS module, And estimating a friction coefficient based on at least one of road information or weather information.
KR1020140070619A 2014-06-11 2014-06-11 Vehicle active safety system KR20150142225A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020140070619A KR20150142225A (en) 2014-06-11 2014-06-11 Vehicle active safety system
PCT/KR2015/005698 WO2015190769A1 (en) 2014-06-11 2015-06-08 Vehicle active safety system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140070619A KR20150142225A (en) 2014-06-11 2014-06-11 Vehicle active safety system

Publications (1)

Publication Number Publication Date
KR20150142225A true KR20150142225A (en) 2015-12-22

Family

ID=54833803

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020140070619A KR20150142225A (en) 2014-06-11 2014-06-11 Vehicle active safety system

Country Status (2)

Country Link
KR (1) KR20150142225A (en)
WO (1) WO2015190769A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230139935A (en) 2022-03-28 2023-10-06 충북대학교 산학협력단 Tire puncturing apparatus for emergency braking

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3208150A1 (en) 2016-02-22 2017-08-23 Riccardo Iudica Method for activating the stop lamps of a vehicle when the service brakes are not used
AT15945U3 (en) * 2018-03-29 2019-01-15 UBIMET GmbH Method for determining and / or estimating a path-related property that influences locomotion on the way
CN112224158B (en) * 2020-09-16 2022-11-25 浙江吉利控股集团有限公司 Safe driving assistance method and device in rainy and snowy weather, electronic equipment and storage medium

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3331310B2 (en) * 1997-09-25 2002-10-07 富士重工業株式会社 Road friction coefficient detector
KR20090047249A (en) * 2007-11-07 2009-05-12 현대자동차주식회사 Safety control method using road surface condition for vehicles
JP5686363B2 (en) * 2010-03-09 2015-03-18 公立大学法人高知工科大学 Road friction coefficient estimation device
KR101417866B1 (en) * 2010-05-12 2014-07-09 주식회사 만도 Method for estimating friction coefficient of road surface

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230139935A (en) 2022-03-28 2023-10-06 충북대학교 산학협력단 Tire puncturing apparatus for emergency braking

Also Published As

Publication number Publication date
WO2015190769A1 (en) 2015-12-17

Similar Documents

Publication Publication Date Title
US9145114B2 (en) Method for ensuring a braking effect
CN102427976B (en) For the method implementing automatic emergency brake correct in on-road vehicle
CN107924628B (en) Collision avoidance system
US7702446B2 (en) Road-surface friction coefficient estimating device and road-surface friction coefficient estimating method
KR101675586B1 (en) Method, control device and system for determining a profile depth of a profile of a tyre
US10106160B2 (en) Driving aid arrangement, a vehicle and a method of controlling a longitudinal velocity of a vehicle
CN109747650B (en) Method and system for controlling vehicle tire-road friction estimation
CN111278694B (en) Method and device for recognizing lane state
CN104670208A (en) Device and method for controlling speed of vehicle
JP2013519592A (en) How to automatically prevent hydroplaning
CN104276084A (en) Driving assist controller for vehicle
KR20150142225A (en) Vehicle active safety system
JP2009035067A (en) Travel controller
KR20090047249A (en) Safety control method using road surface condition for vehicles
US9162657B2 (en) Automotive braking system
US20150339922A1 (en) Device and method for detecting wetness on a roadway
KR101428388B1 (en) Apparatus and method for emergency braking
US20230256972A1 (en) Snow friction determination by autonomous vehicle
JP2006259948A (en) Safe vehicle following distance displaying device
KR20150044133A (en) Control method of slip preventing device for vehicle
JP2005145403A (en) Vehicle following distance control device
JP2002181669A (en) Tire distinguishing device and method
CN214929675U (en) Vehicle with a steering wheel
KR20080098169A (en) Method to detect variety tire for vehicle
KR20230102465A (en) Automatic emergency braking method and device considering road surface condition

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
AMND Amendment
E601 Decision to refuse application
AMND Amendment
E90F Notification of reason for final refusal