Apparatus and method for estimating road friction coefficient
A friction coefficient, road technology, applied in the field of estimating road friction coefficient, can solve the problems of inaccurate work of known methods, loss of vehicle adhesion, and insecurity.
Pending Publication Date: 2022-04-19
THYSSENKRUPP PRESTA AG +1
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Problems solved by technology
The disadvantage is that the known method works imprecisely and is not safe, since the coefficient of friction of the road surface is determined based on the measured values only when the limit range between tire deformation slip and slip slip is reached, i.e. the vehicle has already started to lose adhesion
Method used
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Embodiment Construction
[0033] figure 1The structure of a steer-by-wire system 1 for a motor vehicle having an estimation device 10 according to a first embodiment of the present invention is shown. A steer-by-wire system 1 has a steering wheel 3 connected to a feedback actuator 4 via a steering shaft 2 . The steering system 1 also includes an electronically adjustable steering adjuster 6 acting on the steered wheels 9 , which is connected to the rack via the steering drive. The translation of the rack gear caused by the steering adjuster 6 is transmitted via the tie rod 7 to the steered wheels 9 in order to set the wheel steering angle. The steered wheels 9 are in frictional contact with the road surface 8 via tires 90 . The steer-by-wire system 1 also includes a steering angle sensor, not shown, which is preferably arranged in the feedback actuator 4 and detects the steering angle set by the driver. The feedback actuator 4 and the steering controller 6 are connected via a signal line 5 via which...
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The invention relates to a device and a method for estimating a road friction coefficient present in a frictional contact between a road surface (8) and a tire (90) of a vehicle, the device (10) having a connection (11) for an acceleration sensor (12) for inputting vehicle acceleration measurements (aT, aL); a load determination means (13) for determining at least one vertical tire load (Fzi); the invention relates to a device (10) for estimating a road friction coefficient, comprising a tire model (22), a tire slip rate determination device (14) for determining a tire slip rate (sLi) of at least one tire (90), and a friction coefficient estimation device (15) for determining and outputting an estimated value (f ') of the road friction coefficient, the device (10) further comprising an acceleration estimation device (17) which is designed to estimate the road friction coefficient by means of the tire model (22). An estimated value (aL ') of vehicle acceleration is determined on the basis of at least a tire slip rate (sLi), a vertical tire load (Fzi), and a road friction coefficient estimated value (f') determined in the previous cycle, and friction coefficient estimation means (15) adapted to match an output estimated value (f ') for adjusting the road friction coefficient, the difference between the estimated value (aL ') and the measured value (aL) of the vehicle acceleration is adjusted to a predeterminable range.
Description
technical field [0001] The invention relates to a device for estimating a road friction coefficient according to the preamble of claim 1 and a method for estimating a road friction coefficient according to the preamble of claim 8 . Background technique [0002] Road friction coefficient is a physical quantity that characterizes the transition of vehicle tires from deformation slip to slip slip. The coefficient of road friction is a measure of how much driving or braking force can be transferred through a vehicle's tires to the road surface for a given vertical tire load. In modern vehicles, a range of vehicle control functions require knowledge of the coefficient of road friction present in the frictional contact between the road surface and the vehicle's tires. Especially traction control, brake force control and torque distribution require road friction coefficient. Knowing the coefficient of road friction as precisely as possible under changing road and weather conditio...
Claims
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IPC IPC(8): B60W40/068B60T8/172
CPCB60W40/068B60T8/172B60T2210/12B60T2240/06B60T2270/86
Inventor 莱昂纳德·拉皮斯
Owner THYSSENKRUPP PRESTA AG