Method for approximating a coefficient of friction

Abstract

The invention relates to a method (1) for approximating a coefficient of friction (9), comprising: determining (42) a trajectory (5) of the vehicle (300) for a driving situation (3); determining (35) an expected steering angle value (13); determining (37) an actual steering angle value (11) set on the vehicle (300) in the driving situation (3); determining (41) a vehicle position (17) of the vehicle (300) in the driving situation (3); determining (39) a manipulated variable deviation (21) between the expected steering angle value (13) and the actual steering angle value (11), and / or determining (43) a target-actual deviation (15) between the vehicle position (17) during the driving situation (3) and the trajectory (5); and approximating (61) the coefficient of friction (9) on the basis of the determined manipulated variable deviation (21) and the determined target-actual deviation (15). Furthermore, the invention relates to a driver assistance system (200), a vehicle (300) and a computer program product.

Description

[0001] Method for approximating a coefficient of friction

[0002] The invention relates to a method for approximating a coefficient of friction between the wheels of a vehicle and a road surface. Furthermore, the invention relates to a driver assistance system, a vehicle, and a computer program product.

[0003] A vehicle's ability to change its speed or direction depends essentially on the forces that the vehicle's tires can transmit to the road surface. The most important factor influencing the transferable forces is the coefficient of friction between the road and the vehicle's tires. This coefficient of friction is influenced by the vehicle's tires and the properties of the road surface. In particular, the road surface properties can vary considerably over the course of a journey.

[0004] A human driver assesses road conditions visually through the vehicle's windshield and / or acoustically based on the rolling noise of the vehicle's wheels on the road. In doing so, a human driver uses experience and knowledge of the current tires and steering behavior of the vehicle and also takes current weather conditions into account. The current friction coefficient is essential for safe vehicle control, as this information can be used to adapt the driving style by comparing the intended vehicle movement with the actual vehicle movement. An experienced driver thus continuously estimates which longitudinal and lateral accelerations are safely possible for the vehicle. Many years of experience are essential for correctly estimating the forces that can be transferred to the road to control the vehicle and thus also the possible changes in the vehicle's movement.Inexperienced drivers in particular can misjudge the coefficient of friction between the vehicle's wheels and the road surface, which poses a significant risk of accidents. A reliable assessment of the coefficient of friction is also important for the safe operation of autonomous vehicles. Sensor-based approaches for the automated assessment of road conditions are well known. For example, optical sensors are available that optically detect the road ahead of the vehicle and evaluate the optically acquired image data to estimate the adhesion conditions between the vehicle's tires and the road surface. However, these sensors have several disadvantages. Firstly, the results are heavily influenced by the properties of the sensor and may not be applicable in all driving situations. For example, systems that use conventional cameras can only be used during the day due to poor lighting conditions.Furthermore, optical systems only take into account aspects of the road and neglect vehicle-specific aspects.

[0005] The object of the present invention is to provide a method for approximating a coefficient of friction between wheels of a vehicle and a roadway, a driver assistance system, a vehicle and / or a computer program product, which is preferably improved with regard to an accuracy of the approximation, enables improved safety and / or can be used reliably.

[0006] In a first aspect, the invention solves the problem by means of a method for approximating a coefficient of friction between wheels of a vehicle in a current vehicle configuration and a roadway, the method comprising the following steps: determining a trajectory of the vehicle for a driving situation; determining an expected steering angle value, which is a predicted value of a steering angle to be set on the vehicle in order to follow the trajectory; determining an actual steering angle value, which is set on the vehicle in the driving situation; determining a vehicle position of the vehicle in the driving situation; determining a manipulated variable deviation between the expected steering angle value and the actual steering angle value, and / or determining a target-actual deviation between the vehicle position during the driving situation and the trajectory;and approximating the coefficient of friction based on the determined manipulated variable deviation and / or the determined target-actual deviation.;

[0007] The invention is based on the finding that the steering angle that must be controlled on the vehicle in order to follow a trajectory corresponds to the coefficient of friction between the vehicle's wheels and the road surface. Thus, a change in vehicle dynamics caused by the steering, in particular a change in the vehicle's yaw rate, depends on forces that can be transmitted between the vehicle and the road surface on which the vehicle is traveling. With a low coefficient of friction, the transmittable forces are generally also small and any achievable change in vehicle dynamics can be reduced. With a high coefficient of friction, even high forces can be transmitted, so that significant changes in vehicle dynamics can be achieved. For different coefficients of friction, different steering angles may therefore be necessary to follow an otherwise identical trajectory.If, however, the steering angle is not adjusted to the current coefficient of friction, the vehicle may not be able to follow the trajectory, and deviations may occur between the actual vehicle position and the trajectory. Furthermore, larger steering angles than expected may be necessary to follow the trajectory. The invention utilizes this finding to approximate the current coefficient of friction based on the determined manipulated variable deviation and the determined target-actual deviation. Preferably, the method comprises determining at least one load characteristic. The approximation of the coefficient of friction is particularly preferably additionally carried out based on the determined load characteristic. The method allows for a very simple, cost-effective and / or rapid approximation of the coefficient of friction, since the approximation is based on deviations between expected values ​​and variables actually occurring during the driving situation.

[0008] The coefficient of friction determines the maximum forces that can be transferred between the vehicle and the road surface. The driving situation is preferably a steering situation of the vehicle, i.e., a situation in which the position of the vehicle's wheels, the vehicle's alignment, and / or the vehicle's yaw rate change. For example, the driving situation is a vehicle cornering or a section of a cornering. The driving situation is not a discrete point in time, but rather a period of time. The driving situation includes at least a period of time required to influence the vehicle position by adjusting an actual steering angle value.

[0009] The trajectory comprises at least one planned path (target path) that the vehicle must travel to fulfill the driving task. For example, the trajectory for cornering comprises at least one path curve along which the vehicle is to negotiate the curve. Furthermore, the trajectory preferably comprises a driving dynamics specification. This driving dynamics specification is or preferably comprises a speed specified for traveling along the path or a specified speed profile. The trajectory is planned for the driving situation before the actual driving situation, thus preferably describes a target value for the vehicle movement for the driving situation. The trajectory is preferably determined by a fully or partially autonomous unit, such as an automatic distance control system or an autonomous control unit, also referred to as a virtual driver.

[0010] The actual steering angle value is the steering angle actually applied to the vehicle in the driving situation. The actual steering angle value is, for example, the steering angle value of the vehicle's wheels that is applied to the wheels while cornering. However, the actual steering angle value can also be a progression of the actual steering angle value or a plurality of consecutive actual steering angle values ​​in the driving situation. The expected steering angle value is the steering angle value that, according to a prediction, must be provided by the vehicle's steering system in order to follow the trajectory intended for a driving situation. The expected steering angle value is, therefore, a steering angle value or a progression of this value that must be set on the vehicle according to a prediction so that the vehicle follows the trajectory.For example, a steering angle expectation value of 15° for a curved trajectory path can be predicted before the vehicle actually travels the path.

[0011] The target-actual deviation is a discrepancy between the actual position of the vehicle during the driving situation (the vehicle position) and the desired position of the vehicle on the path according to the trajectory. For example, due to a reduced friction coefficient, a provided steering angle may be too small to follow the trajectory, causing the vehicle to be carried to the outside of a curve. In this case, a target-actual deviation occurs between the vehicle position and the position of the vehicle on the trajectory or its path.

[0012] In a first preferred embodiment of the method, the target-actual deviation is or includes a lateral deviation of the vehicle from a path encompassed by the trajectory. The lateral deviation is an offset of the vehicle or the vehicle position from the path transverse to the vehicle's direction of travel. For an understeering vehicle, such a lateral deviation is typically directed toward the outside of the curve. A lateral deviation of the vehicle from the trajectory is particularly critical, since a lateral deviation toward the center of the road can lead to collisions with oncoming vehicles, while a lateral deviation toward the outer edge of the road can cause the vehicle to leave the roadway.

[0013] The target-actual deviation is preferably or comprises a directional error of the vehicle with respect to a target orientation of the vehicle included in the trajectory. The target orientation is an orientation of the vehicle provided within the trajectory, which is preferably defined with reference to the path. As a rule, the target orientation is selected such that the front of the vehicle points in the direction of the path. The directional error is preferably a course angle error between a target course angle included in the trajectory and an actual course angle present in the driving situation. A directional error is a strong indication of existing or developing driving dynamics instability of the vehicle and is therefore particularly suitable for approximating the coefficient of friction. For example, an understeering vehicle orIts longitudinal axis, which is tangent to the path, creates a sideslip angle because the vehicle's yaw rate is too low to guide it along the required path. In oversteer, however, the vehicle's yaw rate is too high, causing the vehicle to turn more sharply than intended. Oversteer also results in a directional error.

[0014] In a preferred embodiment, the coefficient of friction is only approximated if both a control variable deviation and a target-actual deviation are present. This allows the method to be implemented particularly robustly.

[0015] Preferably, a control variable deviation between the expected steering angle value and the actual steering angle value is only determined if the actual steering angle value during the driving situation lies within a steering angle tolerance around the expected steering angle value. Preferably, a target-actual deviation between the vehicle position during the driving situation and the trajectory is only determined if the vehicle position during the driving situation lies within a position tolerance around the trajectory. Any measurement errors can be compensated for by the position tolerance and / or the steering angle tolerance.

[0016] The method preferably further comprises: performing trajectory planning to obtain the trajectory. The trajectory planning is particularly preferably performed using the load characteristic. The trajectory is intended to fulfill a driving task, such as an autonomous journey from point A to point B. As part of the trajectory planning, at least the planned path that the vehicle is to travel to fulfill the driving task is planned. The trajectory preferably further comprises a driving dynamics specification. This driving dynamics specification is or preferably comprises a speed specified for traveling the path or a specified speed profile. The trajectory planning is preferably performed based on environmental information, which is preferably provided by various environmental sensors of the vehicle.For example, the vehicle can have a camera that records the area in front of the vehicle in the direction of travel. The trajectory to be traveled is then planned based on the environmental information provided by the camera. According to the preferred development of the method, the load characteristics are taken into account in the trajectory planning. For example, a target speed of the vehicle included in the trajectory, at which the vehicle travels the path, can be planned depending on the vehicle's weight, with higher target speeds being planned for a low vehicle weight than for a high vehicle weight. Furthermore, the speed planned for traveling the path can be limited to 60 km / h for a high vehicle weight, for example, even though a speed of 80 km / h is permitted under traffic law on the road to be traveled.Trajectory planning is preferably performed using map data. Trajectory planning can also be performed without environmental information, especially when using map data. Trajectory planning is preferably only performed without environmental information or information obtained through environmental perception if it can be ruled out that dynamic objects (people, objects, etc.) are present on the trajectory.

[0017] The expected steering angle value is preferably determined using the load characteristic. For this purpose, the method preferably comprises determining at least one load characteristic of the current vehicle configuration. The actual steering ability of the vehicle depends, among other things, on its weight and weight distribution. For example, the heavier the vehicle, the greater the inertial forces that must be overcome when negotiating a curve. Therefore, a steering angle to be set on a vehicle with more than two axles may, under certain circumstances, be greater for a heavy vehicle than for a light vehicle, assuming an identical path and identical vehicle speed. The position of a vehicle's center of gravity also influences its tendency to change direction. By taking the load characteristic into account when determining the expected steering angle value, such effects are at least partially incorporated into the approximation.The quality of the approximation can be improved.

[0018] According to a preferred embodiment, the expected steering angle value is determined based on a curvature of the trajectory and a wheelbase of the vehicle, a number of axles of the vehicle, and / or a steerability of axles of the vehicle. The determination of the expected steering angle value is then based not only on the aspect of the curvature of the trajectory relating to the driving task, but also on at least one vehicle-specific aspect. For example, vehicles with a short wheelbase can generally negotiate tighter curves than vehicles with a long wheelbase. The determined expected steering angle value can be predicted, preferably with increased accuracy, by taking into account the wheelbase of the vehicle, the number of axles of the vehicle, and / or the steerability of axles of the vehicle. The quality of the approximation of the coefficient of friction can also be improved if the approximation is carried out based on the manipulated variable deviation.The curvature of the trajectory is preferably a curvature of the path.

[0019] The method preferably further comprises: monitoring the target-actual deviation, wherein the target-actual deviation is determined continuously during monitoring or is determined at several consecutive points in time; and determining a trajectory deviation change rate based on the target-actual deviations determined during monitoring. The trajectory deviation change rate indicates the temporal change in the target-actual deviation, i.e. the deviation of the vehicle position from the trajectory. The trajectory deviation change rate preferably describes the change in the trajectory deviation over a certain period of time in relation to the duration of this period. The period under consideration is preferably short. The duration of the period is preferably 10 seconds (seconds) or less, preferably 8 seconds or less, preferably 6 seconds or less, preferably 5 seconds or less, preferably 4 seconds or less, preferably 3 seconds.or less, preferably 2 see. or less, preferably 1 see. or less. An increasing target-actual deviation is an indication that an unstable driving condition exists. An increasing trajectory deviation change rate occurs, for example, when the vehicle understeers when cornering and, as a result, the vehicle's lateral deviation steadily increases. Determining the trajectory deviation change rate allows for particularly simple early detection of deviations between an actual vehicle movement and a target movement according to the trajectory. Starting from a state in which the vehicle is traveling on the path, even the occurrence of a small target-actual deviation causes an increasing trajectory deviation change rate. In this way, a trajectory deviation change rate can be determined even with small absolute target-actual deviation.

[0020] In a preferred development, the friction coefficient is only approximated if the trajectory deviation change rate indicates an increasing target-actual deviation of the vehicle position from the trajectory. The approximation of the friction coefficient becomes more robust, and the risk of incorrect determination is minimized. For example, target-actual deviations cannot be taken into account for approximating the friction coefficient if they result solely from the vehicle entering a curve with a transverse deviation to the path, but then stably following the curve with a constant transverse deviation to the path. Similarly, manipulated variable deviations resulting from increasing the steering angle to reduce the transverse deviation are not taken into account, since the trajectory deviation change rate indicates a decreasing target-actual deviation in this case.

[0021] In one variant of the method, the coefficient of friction is approximated using a learned reference coefficient of friction. The coefficient of friction can also be approximated using multiple learned reference coefficients. The learned reference coefficients can, for example, be approximated friction coefficients from driving situations earlier in the current driving situation. For example, in a reference driving situation earlier in the current driving situation, a reference coefficient of friction can be approximated for essentially identical load characteristics and a comparable path, which is then used in the current driving situation to approximate the current coefficient of friction. If, for example, the reference coefficient of friction was learned for a wet road surface (i.e., reduced coefficient of friction), then a manipulated variable deviation that characterizes an actual steering angle value that is smaller than the expected steering angle value can indicate a current coefficient of friction on a dry road surface.The current friction coefficient is preferably approximated as a multiple of the reference friction coefficient, wherein a multiplier used is proportional to the manipulated variable deviation. The method preferably further comprises: detecting a control system intervention of a stability control system of the vehicle; determining a friction coefficient using control system data provided by the stability control system; wherein the approximation of the friction coefficient is alternatively or additionally based on the friction coefficient if a control system intervention is detected. The stability control system is preferably a stability control system of the vehicle, in particular a so-called Electronic Stability Control (ESC) and / or an anti-lock braking system (ABS) of the vehicle. Such stability control systems are provided in almost all modern vehicles.In the event of a control system intervention, the stability control system determines a large number of control system data that allow conclusions to be drawn about the coefficient of friction or that directly represent the coefficient of friction. The invention utilizes this in the preferred embodiment.

[0022] According to a preferred embodiment, the method further comprises: performing at least one follow-up operation using the approximated friction coefficient, wherein the follow-up operation is or includes providing a warning signal, placing a stability control system into a preventive control mode, redetermining the vehicle's trajectory, determining a degree of freedom limit, limiting a degree of freedom of the vehicle, and / or validating a friction coefficient sensor. The follow-up operation is preferably only performed if the approximated friction coefficient falls below a friction coefficient limit. Thus, a warning signal can only be output if the friction coefficient falls below the friction coefficient limit. This can be the case, for example, if the vehicle is driving on an icy road surface. The warning signal is preferably a visual, acoustic, and / or haptic warning signal.However, it can also be provided that the warning signal is an electrical warning signal that is provided to a control unit of the vehicle. The redetermination of the planned trajectory can be a complete redetermination of the planned trajectory, a partial redetermination of the planned trajectory and / or an updating of the planned trajectory. Partial redetermination occurs, for example, when a trajectory curve or a path included in the planned trajectory is retained and, at the same time, a speed profile corresponding to traveling along the trajectory curve, which is included in the planned trajectory, is redetermined. During partial redetermination, preferably all of the information and / or data underlying the trajectory planning are redetermined. During updating, preferably only some of the information and / or data underlying the trajectory planning are redetermined.The determined friction coefficient and / or the determined driving dynamics limit is preferably taken into account in the trajectory, which can increase safety when using the vehicle. Compliance with the driving dynamics limit ensures safe and stable vehicle travel during normal operation. The driving dynamics limit is preferably or includes a maximum permissible vehicle speed, a maximum permissible lateral acceleration, a maximum permissible vehicle acceleration, a maximum permissible vehicle deceleration, a maximum permissible steering angle gradient, a maximum permissible steering frequency, or a minimum permissible turning radius of the vehicle. The friction coefficient sensor is preferably an optical and / or acoustic friction coefficient sensor.

[0023] In a second aspect, the invention achieves the aforementioned object with a driver assistance system configured to carry out the method according to the first aspect of the invention. The driver assistance system preferably comprises a control unit and an interface that can be connected to a vehicle network of the vehicle. The interface is preferably configured to receive vehicle signals that represent at least the load characteristic, the trajectory, the expected steering angle value, the actual steering angle value, and / or the manipulated variable deviation. It should be understood that one or more of the determination steps of the method can be performed by the driver assistance system based on such vehicle signals.The driver assistance system does not have to determine the load characteristics directly itself, but can also determine them based on load signals provided by an air suspension system of the vehicle on the vehicle network.

[0024] In a third aspect, the invention solves the problem mentioned above by a vehicle with at least two axles, an autonomous unit, a steering system, and a driver assistance system according to the second aspect of the invention.

[0025] According to a fourth aspect of the invention, the object mentioned at the outset is achieved by means of a computer program product which has program code means stored on a computer-readable data carrier in order to carry out the method according to the first aspect of the invention when the computer program product is executed on a computing unit, in particular the control unit of the driver assistance system according to the second aspect of the invention.

[0026] It should be understood that the driver assistance system according to the second aspect of the invention, the vehicle according to the third aspect of the invention and the computer program product according to the fourth aspect of the invention have the same and similar sub-aspects as are particularly set out in the dependent claims to the method according to the first aspect of the invention.

[0027] Embodiments of the invention will now be described below with reference to the drawings. These are not necessarily intended to represent the embodiments to scale; rather, the drawings are schematic and / or slightly distorted where this is useful for explanation. With regard to additions to the teachings immediately apparent from the drawings, reference is made to the relevant prior art. It should be noted that numerous modifications and changes to the form and detail of an embodiment can be made without deviating from the general idea of ​​the invention. The features of the invention disclosed in the description, in the drawings and in the claims can be essential for the further development of the invention, both individually and in any combination.Furthermore, all combinations of at least two of the features disclosed in the description, the drawings and / or the claims fall within the scope of the invention. The general idea of ​​the invention is not limited to the exact form or detail of the preferred embodiments shown and described below, or limited to an object that would be more limited than the object claimed in the claims. For specified dimensioning ranges, values ​​within the stated limits are also intended to be disclosed as limit values ​​and to be used and claimed as desired. For the sake of simplicity, the same reference numerals are used below for identical or similar parts or parts with identical or similar functions.

[0028] Further advantages, features and details of the invention will become apparent from the following description of the preferred embodiments and from the drawings, which show: Fig. 1 is a plan view of a schematically illustrated vehicle;

[0029] Fig. 2 shows a driving situation of the vehicle according to Fig. 1, illustrated as cornering;

[0030] Fig. 3 shows a driving situation of the vehicle according to Fig. 1 illustrated as cornering, wherein the vehicle understeers;

[0031] Fig. 4 is a schematic flow diagram of a method for approximating a coefficient of friction; and in

[0032] Fig. 5 is a diagram illustrating a course of an actual steering angle value, an expected steering angle value, a curvature of a path, a transverse deviation of the vehicle and a directional error of the vehicle for a driving situation.

[0033] Fig. 1 shows a vehicle 300 configured as a three-axle commercial vehicle 301. In addition to a front axle 302 and a rear axle 304, the vehicle 300 includes a liftable auxiliary axle 306 that trails the rear axle 304 in the direction of travel 307. The liftable auxiliary axle 306 (lift axle 306 for short) can be raised or lifted so that the mass of the vehicle 300, or the weight resulting from the load, is distributed only between the front wheels 308 of the front axle 302 and the rear wheels 310 of the rear axle 304. When the lift axle 306 is lowered, the weight of the vehicle 300 is additionally distributed between the auxiliary wheels 312 of the lift axle 306.

[0034] The vehicle 300 has a plurality of vehicle actuators 314 configured to influence the longitudinal and lateral dynamics of the vehicle 300. To this end, the vehicle actuators 314 influence a plurality of degrees of freedom of movement of the vehicle 300. A braking system 316 is provided for braking the vehicle 300. The braking system 316 includes a brake control unit 318, a brake modulator 320, and a plurality of brake actuators 322. The brake actuators 322 are assigned to the wheels 308, 310, 312 of the vehicle 300 and are configured to provide a braking torque to the wheels 308, 310, 312. For illustrative purposes, only the brake actuators 322 of the rear wheels 310 are connected to the brake modulator 320 in Fig. 1. To brake the vehicle 300, the brake modulator 320 provides a brake pressure to the brake actuators 322, which then control a brake slip at the wheels 308, 310, 312 of the vehicle 300.The braking system 316 is an electronically controllable braking system 316 that can be controlled based on electrical signals. A motor (not shown in the figures) is provided to further influence the longitudinal dynamics of the vehicle 300.

[0035] As a further vehicle actuator 314, the vehicle 300 includes a steering system 324. The steering system 324 is configured to control steered wheels 326 of a steerable axle of the vehicle 300 or to control a steering angle θ on the steered wheels 326. In the commercial vehicle 301 according to Fig. 1, the front axle 302 represents the steerable axle, so that the front wheels 308 are the steered wheels 326. However, it can also be provided, for example, that the additional wheels 312 of the additional axle 306 are steerable, in which case the additional axle 312 is usually not liftable.

[0036] The steering system 324 here is an active steering system 332, i.e., an at least partially electronic steering system 332. With the active steering system 332, the steering angle θ at the steered wheels 326 is not adjusted purely mechanically, but rather at least partially based on electrical signals. For this purpose, the active steering system 332 has a steering control unit 334 connected to a servomotor 336. The servomotor 336 is arranged on a steering column 338 of the steering system 324 and is designed to provide a steering torque to the steering column 338. For this purpose, for example, an output shaft of the servomotor 336 (not shown in the figures) is connected to the steering column 338 by means of a gear.

[0037] In the illustrated embodiment, the vehicle 300 is configured to drive autonomously. The vehicle 300 is therefore not controlled by a human driver, but preferably entirely by an autonomous unit 340, also referred to as a virtual driver 340. The autonomous unit 340 is configured to perform trajectory planning 55 in order to obtain a trajectory 5 of the vehicle 300 in a driving situation 3. In the present embodiment, the trajectory 5 comprises a path 7 to be traveled by the vehicle 300. The path 7 is a trajectory that the vehicle 300 is to follow according to the planned trajectory 5. As part of the trajectory planning 55, the autonomous unit 340 uses an expected friction coefficient for a driving situation 3 encompassed by the trajectory 5. This expected friction coefficient is an assumption or forecast for a friction coefficient 9 actually present in the driving situation 3.

[0038] In addition to trajectory planning 55, the virtual driver 340 of the vehicle 300 shown in Fig. 1 is configured as a position controller 346. The virtual driver 340 therefore not only plans the trajectory 5, but also steers the vehicle 300 in driving situation 3 as precisely as possible along the path 7 encompassed by the trajectory 5. To this end, the virtual driver 308 controls the drive motor, the braking system 316, and the electronically controllable steering system 4 such that the vehicle 300 follows the path 7 at a target speed encompassed by the target trajectory 5. The target speed can vary along the path 7 or represent a speed profile.

[0039] The virtual driver 340, the steering control unit 334, an engine control unit of the drive motor (not shown in Fig. 1), and the brake control unit 318 of the braking system 314 are connected via a vehicle network 348. To control the vehicle 300, the virtual driver 340 provides signals on the vehicle network 348, which can then be received by the other units of the vehicle 300. The vehicle network 348 is a bus system, namely a CAN bus of the commercial vehicle 300.

[0040] The active steering system 332 receives steering signals 350 provided by the virtual driver 340 and steers the vehicle 300 according to these steering signals 350. To this end, the steering control unit 334, with the aid of the servo motor 336 and the steering column 338, controls the steering angle θ on the steered wheels 326 (the front wheels 308), which has an actual steering angle value θ that corresponds to the steering signals 350 provided by the virtual driver 340. Simultaneously, the virtual driver 308 also controls the longitudinal dynamics of the vehicle 300 by sending corresponding signals to the drive motor and the braking system 314.

[0041] Driving situation 3 is initially illustrated in Fig. 2 by way of example as stable cornering of vehicle 300 on a roadway 342. Fig. 2 shows vehicle 300 at multiple positions in a curve 352, and is therefore intended to represent a temporal progression of driving situation 3. At a curve entrance 354, the front wheels 308 of the vehicle are still aligned straight, so that the steering angle θ has a value of 0°. At a curve apex 356, a steering angle θ greater than 0° (approximately 20° in the example shown) is controlled at the front wheels 308 of vehicle 300. This steering angle θ is then reduced again in the direction of a curve exit 358, so that the front wheels 308 again have a steering angle θ of 0° at the curve exit 358. The autonomous unit 340 specifies a steering angle 8 with an actual steering angle value 11, which is required to negotiate the curve 352 according to a forecast carried out by the autonomous unit 340.The actual steering angle value 11 of the steering angle 8 initially increases at the curve entry 354, is approximately constant in the area of ​​the curve apex 356 and then decreases towards the curve exit 358.

[0042] When entering curve 352, the autonomous unit 340 initially specifies the actual steering angle value 11, which corresponds to an expected steering angle value 13 that it expects for driving situation 3. The expected steering angle value 13 is selected such that the vehicle 300 follows the curve 352 and moves within defined limits of the roadway 342. Furthermore, the autonomous unit 340 also controls the drive motor of the vehicle 300 (not shown in the figures) and the braking system 316 such that the vehicle 300 is guided through the curve 352 at a safe speed 360 in driving situation 3. For this purpose, the autonomous unit 340 first determines the expected steering angle value 13 required for driving situation 3, or a temporal progression of the expected steering angle value 13 and the speed 360.

[0043] In the exemplary embodiment shown, this prediction is based, among other things, on the coefficient of friction θ between the steered wheels 326 and the road surface 342. If the actual coefficient of friction θ deviates from the coefficient of friction taken into account when determining the expected steering angle value θ, then the vehicle 300 may not be able to follow the curve 352. This poses a significant risk of an accident, since the autonomous unit 340 may not steer the vehicle 300 appropriately. For example, the autonomous unit 340 may steer the vehicle 300 into the curve 352 at a significantly excessive speed 360, whereby the vehicle 300 may not be able to follow the course of the curve 352 due to a slippery road surface 342 and may be carried out of the curve 352. Such a case of a significant target-actual deviation 15 between the vehicle position 17 of the vehicle 300 in the driving situation 3 (of the vehicle 300 when driving on the curve 352) and the trajectory 5 ora target position 19 of the vehicle 300 in the curve 352 is illustrated in Fig. 3. In less critical driving situations 3, the vehicle 300 can follow the curve 352 despite the presence of a target-actual deviation 15, whereby two cases can essentially be distinguished, which are particularly suitable for approximating the currently prevailing friction coefficient 9. In a first case, the vehicle 300 largely follows the path 7 encompassed by the trajectory 5. The virtual driver 340 detects a target-actual deviation 15 between the vehicle position 17 and the target position 19 at an early stage and compensates for it by adjusting the actual steering angle value 11. The target-actual deviation 15 is negligibly small, with the exception of a brief period near the curve entrance 354. However, the actual steering angle actual value 11 of the steering angle 8 is then greater or smaller than the steering angle expected value 13.In this case, a control variable deviation 21 between the expected steering angle value 13 (or its course) and the actual steering angle value 11 (or its course) can be determined.

[0044] In a second case, the virtual driver 340 only insufficiently adjusts the steering angle 8, so that the vehicle position 17 deviates from the trajectory 5 and, moreover, a control variable deviation 21 nevertheless occurs due to the partial adjustment of the steering angle 8. In this second case, a target-actual deviation 15 exists essentially over the entire length of the curve 352.

[0045] During unstable cornering of vehicle 300 according to Fig. 3, vehicle 300 understeers and the target-actual deviation 15 increases continuously. This unstable driving state 362 is superimposed in Fig. 3 on a vehicle 300 ideally following path 7 in a stable driving state 364. In the stable driving state 364, vehicle 300 is shown with lower contrast than in the unstable driving state 362. When entering curve 336, the stable driving state 364 and the unstable driving state 362 are still identical. In the unstable case, vehicle 300 cannot follow the course of curve 352 or path 7. When understeering, vehicle 300 deviates to the outside of the curve from the planned path 7 or target position 19 on path 7, which corresponds exactly to the course of curve 352. A transverse offset 23 of the vehicle 300 to the path 7 or to the trajectory 5 increases continuously from the curve entrance 354 to the curve exit 356.An actual yaw rate of the vehicle 300 is lower than a desired yaw rate, so that the vehicle 300 turns less into the curve 352 than desired for following the trajectory 5. A directional error 25 between the orientation of the vehicle 300 during understeering and the stable vehicle 300 or a desired orientation 27 encompassed by the trajectory 5 increases towards the curve exit 356. In Fig. 3, the understeer is illustrated with a particularly large lateral deviation 23 and a particularly large directional error 25 for illustrative purposes. In less critical driving situations 3, the vehicle 300 can, as described above, follow the curve 352 despite the presence of a lateral deviation 23 and a directional error 18. These driving situations 3 are particularly suitable for approximating the current friction coefficient 9.The previously described driving situation 3, in which the vehicle essentially follows path 7 in the presence of a control variable deviation 21, is also suitable for approximating the friction coefficient 9.

[0046] Knowledge of the current friction coefficient 9 is important for safe operation of the vehicle 300. With knowledge of the current friction coefficient 9, the virtual driver 340 can plan the trajectory 5 accordingly and thus minimize large target-actual deviations 9 between the actual vehicle position 17 and the path 7.

[0047] To determine the coefficient of friction θ, the vehicle 300 includes an optical sensor 370, which is embodied here as a camera 372 that captures the road surface 342. However, the optical sensor 370 has the disadvantage that the coefficient of friction θ can only be determined under sufficiently good lighting conditions. Therefore, in the exemplary embodiment shown, the vehicle 300 additionally includes a driver assistance system 200, which is configured to carry out a method 1, explained below with reference to Fig. 4, for approximating a coefficient of friction θ between wheels 308, 310, 312 of the vehicle 300 and the road surface 342. The driver assistance system 200 can also verify a coefficient of friction θ determined by the optical sensor 370. However, it should be understood that the vehicle 300 can also have only the driver assistance system 200 and no optical sensor 370. The driver assistance system 200 comprises a control unit 202 and an interface 204.The interface 204 is connected to the vehicle network 348 and also receives sensor signals 374 from the optical sensor 370, which can then be verified.

[0048] In a first step of the method 1 for approximating a current coefficient of friction 9 between the wheels 308, 310, 312 of the vehicle 300 in a current vehicle configuration 10 and the roadway 342, a load characteristic 31 of the current vehicle configuration 10 is determined 29. The current vehicle configuration 10 takes into account a current load of the vehicle 300. The load characteristic 31 of the current vehicle configuration 10 is, in the present exemplary embodiment, a mass distribution 33 of the vehicle 300. The mass distribution 33 of the vehicle 300 results, in addition to a dead weight of the vehicle 300, also from its load, among other things. The mass distribution 33 corresponds to a normal force acting on the wheels 308, 310, 312 in the direction of the roadway 342, which in turn significantly influences the maximum transferable force in a tire contact area of ​​the wheels 308, 310, 312 to the roadway 342.By taking the mass distribution 25 into account, the quality of the approximation of the coefficient of friction θ can be improved. The mass distribution 25 is determined by an air suspension system of the vehicle 300 (not shown in the figures), wherein the air suspension system provides mass distribution signals 376 representing the mass distribution 33 on the vehicle network 348. The control unit 202 carries out the determination 29 of the load characteristic 31 using these mass distribution signals 376. Thus, signals already present on the vehicle network 348 can advantageously be used for the determination 29. Method 1 is particularly easy to implement. However, it can also be provided, for example, that the control unit 202 carries out the mass distribution 33 based on axle load signals provided by the air suspension system on the vehicle network 348.In this case, the control unit 202 can preferably also take into account geometric characteristics of the vehicle 300, such as distances between the axles 302, 304, 306. It should be understood that the method 1 can also be carried out without determining 29 the load characteristic 31.

[0049] As already explained above, the autonomous unit 340 determines the steering angle expected value 13 for the driving situation 3 and provides it in the form of expected value signals 378 on the vehicle network 348 in order to control a corresponding steering angle θ using the active steering 326. In doing so, the autonomous unit 340 preferably also takes into account the mass distribution 33 or other load characteristics of the vehicle 300. Furthermore, the autonomous unit 340 bases the determination of the steering angle expected value 13 on an expected coefficient of friction between the wheels 308, 310, 312 of the vehicle 300 and the road surface 342. The control unit 202 of the driver assistance system 200 determines the steering angle expected value 13 using the expected value signals 378 in a further step of method 1 (determination 35 in Fig. 4).However, it can also be provided that the control unit 202 determines the steering angle expected value 13 directly or based on the trajectory 5.

[0050] The expected steering angle value 13 is available at the control unit 202 and at the steering control unit 334. The autonomous unit 340 monitors the vehicle position 17 of the vehicle 300 during driving situation 3 and controls the active steering 326 so that the vehicle 300 follows the path 7 as precisely as possible. If the friction coefficient, on the basis of which the expected steering angle value 13 is determined, deviates from the actual friction coefficient 9, then the initial control of a steering angle 7 corresponding to the expected steering angle value 13 does not lead to the desired vehicle movement. As explained above, the autonomous unit 340 attempts to adjust the actual steering angle value 11 so that the vehicle 300 is guided safely through the curve 351. The autonomous unit 340 provides actual value signals 380 corresponding to the actual steering angle value 11 on the vehicle network 348.In the case of a wet road surface 342, for example, the autonomous unit 340 increases the actual steering angle value 11 in order to keep the vehicle 300 on the road surface 342 despite a reduced friction coefficient 9 compared to a dry road surface 342. The actual steering angle value 11 then deviates from the expected steering angle value 13.

[0051] The control unit 202 of the driver assistance system 200 receives the actual value signals 380 representing the actual steering angle value 11 and uses them to determine 37 the actual steering angle value 11. In the method according to Fig. 4, the actual steering angle value 11 is determined 37 after the expected steering angle value 13 is determined 35, but can in principle also be determined simultaneously with or before the determination 35. Using the expected steering angle value 13 and the actual steering angle value 11, the control unit 202 then determines 39 the manipulated variable deviation 21.

[0052] Although the autonomous unit 340 in the present exemplary embodiment adjusts the actual steering angle value 11 to keep the vehicle 300 on the roadway 342, the vehicle position 17 still deviates from the trajectory 5. To control the vehicle 300, the autonomous unit 340 continuously monitors the current vehicle position 10 of the vehicle 300 on or, in extreme cases, also next to the roadway 342. For this purpose, the autonomous unit 340 can, for example, use a GPS system of the vehicle 300. Based on the current vehicle position 17, the autonomous unit 340 adjusts the actual steering angle value 11 of the vehicle 300. The autonomous unit 340 also provides the current vehicle position 17 in the form of position signals 382 on the vehicle network 348.

[0053] The control unit 202 receives these position signals 382 from the vehicle network 348 and, based thereon, determines 41 the vehicle position 17 of the vehicle 300 in driving situation 3. Furthermore, the autonomous unit 340 also provides the trajectory 5 on the vehicle network 348. As part of determining 42, the control unit 202 also determines the trajectory 5 provided by the autonomous unit 340 on the vehicle network 348, which includes the target position 19 of the vehicle 300 on path 7. Using the trajectory 5 and the vehicle position 17, the control unit can determine the target-actual deviation 15 between the vehicle position 17 and the trajectory 5 as part of determining 43.

[0054] The autonomous unit 340 continuously determines the vehicle position 17, so that position signals 382 are available via the vehicle network 348, which enable monitoring 45 of the target-actual deviation 15. In the present exemplary embodiment, the control unit 202 of the driver assistance system 200 determines the target-actual deviation 15 for several consecutive points in time 47. For example, the control unit 202 can cyclically repeat the target-actual deviation 15 once per second. The monitoring 45 thus allows an observation of the temporal development of the target-actual deviation 15. Alternatively, it can also be provided that the target-actual deviation 15 is continuously determined during monitoring 45.

[0055] Based on the target-actual deviations 9 determined during monitoring 45, the control unit 202 determines a trajectory deviation change rate 49 (determination 51 in Fig. 4). The trajectory deviation change rate 43 indicates the temporal progression of the target-actual deviation 15 and indicates whether the target-actual deviation 15 increases or decreases over the course of the driving situation 3. Increasing target-actual deviations 9 or a positive trajectory deviation change rate 49 indicate unforeseen driving behavior of the vehicle 300. Thus, the trajectory deviation change rate 49 is positive if the vehicle 300 is carried to the outside of the curve 352 as a result of an insufficient steering angle 8, with the lateral offset 23 increasing over time. The directional error 25 can also increase in this case. The trajectory deviation change rate 49 can take into account both the lateral deviation 23 and the directional error 25.However, it can also be provided that a separate trajectory deviation change rate 49 is determined for the transverse position 17 and the directional error 25, or that only the directional error 25 or only the transverse offset 23 are taken into account for the trajectory deviation change rate 49.

[0056] Fig. 5 illustrates in detail a profile of a curvature 53 of path 7, the expected steering angle value 13, the actual steering angle value 11, the lateral deviation 23, and the directional error 18 along the profile of the curve 352 during driving situation 3, wherein the vehicle 300 travels a straight section 384 before and after the curve 352. The curve entrance 354 and the curve exit 358 are marked in Fig. 5, wherein the curvature 53 of path 7 and the curve 352, respectively, are zero before the curve entrance 354 and after the curve exit 358. In the straight section 384 before the curve 352, the actual steering angle value 11 and the expected steering angle value 13 are also zero. The lateral deviation 23 and the directional error 25 of the vehicle 300 are also approximately zero in the straight section 384 before the curve 352.Small fluctuations in the lateral deviation 23 and the directional error 18 in the straight sections 384 result from incorrect determinations of the vehicle position 17 and, if necessary, corrections by the autonomous unit 340. At the curve entrance 354, the actual steering angle value 11 increases approximately uniformly with the expected steering angle value 13. The autonomous unit 340 controls the actual steering angle value 11 by means of the active steering 332 in order to guide the vehicle 300 along the curve 352. However, in the exemplary embodiment according to Fig. 5, the autonomous unit 340 does not completely succeed in doing this, so that a target-actual deviation 15 occurs. This target-actual deviation 15 is characterized here by the increasing lateral deviation 23 and the directional error 25 starting from the curve entrance 354.Since the actual steering angle value 11 corresponding to the expected steering angle value 13 is insufficient to guide the vehicle along path 7, the autonomous unit 340 increases the actual steering angle value 11 using the active steering 332, resulting in a control variable deviation 21. Due to the increased actual steering angle value 11, the vehicle 300 can better follow the course of the curve 352, and the target-actual deviation 15 between the vehicle position 17 and path 7 of the trajectory 5 decreases again toward the curve exit 358. The actual steering angle value 11 can be reduced, so that the control variable deviation 21 between the curve apex 356 and the curve exit 358 also decreases. At the curve exit 358, the vehicle 300 is again correctly aligned on the path 7, so that the lateral offset 23 and the directional error 25 have a value of approximately zero.

[0057] Fig. 5 further illustrates a detection 57 of a friction coefficient deviation 59 between the friction coefficient 9 actually present in driving situation 3 and the friction coefficient used by the autonomous unit 340 in the context of trajectory planning 55. Following this detection 57, method 1 approximates 61 the current friction coefficient 9.

[0058] After the determination 29, the determination 39, the determination 43 and the determination 51, the load characteristic 31, the manipulated variable deviation 21, the target-actual deviation 15 and the trajectory deviation change rate 49 are available at the control unit 202 of the driver assistance system 200. In the present exemplary embodiment, the control unit 202 uses these parameters to approximate 61 the current friction coefficient 9 for the driving situation 3. In the exemplary embodiment shown, the approximation 61 is therefore based on the load characteristic 31, the manipulated variable deviation 21, the target-actual deviation 15 and the trajectory deviation change rate 49. In cases in which the target-actual deviation 15 and consequently also the trajectory deviation change rate 49 are negligible, the approximation 61 can, however, also be based only on the manipulated variable deviation 21 and the load characteristic 31.During approximation 61, the control unit 202 takes into account the magnitude of the target-actual deviation 15 and the manipulated variable deviation 21, whereby the value of the approximated friction coefficient 9 is determined proportionally to the target-actual deviation 15 and the manipulated variable deviation 21. In this process, the control unit 202 also uses the load characteristic 31 and the friction coefficient predicted for driving situation 3 as part of the trajectory planning 55.

[0059] The trajectory deviation change rate 49 is used as an exclusion criterion in the present exemplary embodiment. Approximation 61 is therefore only performed here if the trajectory deviation change rate 49 in driving situation 3 indicates, at least temporarily, an increasing target-actual deviation 15. This is the case in driving situation 3 according to Fig. 5, since the target-actual deviation 15 (or the lateral offset 23 and the directional error 25) increase from the curve entrance 354 to the curve apex 356. Thus, in method 1, those driving situations 3 are not taken into account in which a target-actual deviation 15 is present, but this target-actual deviation 15 is already present at the curve entrance 354, for example as a result of a previous evasive maneuver, and decreases over the course of driving situation 3.

[0060] The friction coefficient 9 is approximated by adapting a predicted friction coefficient 9 used in the context of trajectory planning 55 to the load characteristic 31, the target-actual deviation 15 and the manipulated variable deviation 21. However, in alternative embodiments, it can also be provided that, using the load characteristic 31, the target-actual deviation 15 and the manipulated variable deviation 21, a reference friction coefficient is selected as the friction coefficient 9, which has a reference load characteristic that lies within a load tolerance around the load characteristic 31, for which the target-actual deviation 15 lies within a tolerance around a reference target-actual deviation and / or for which the manipulated variable deviation 21 lies within a tolerance around a reference manipulated variable deviation.

[0061] The driver assistance system 200 is further configured to detect a control system intervention 63 of the stability control system 388 (detecting 65 in Fig. 4) based on stability signals 386 from a stability control system 388, which here is an Electronic Stability Control (ESC) of the vehicle 300. The stability signals 386 include control system data 390 that are used in a determination 67 to determine a coefficient of friction 69 between the wheels 308, 310, 312 of the vehicle 300 and the road surface 342. The stability control system 388 performs control system interventions 63 when the vehicle 300 is unstable. This is usually the case when sufficient forces cannot be transmitted between the vehicle 300 and the road surface 342, so that the coefficient of friction 69 is generally fully utilized in these driving situations 3. The control system data 390 or the stability signals 386 can advantageously be used to determine 67 the coefficient of friction 69.The approximation 61 of the friction coefficient 9 can then be carried out solely based on the friction coefficient 69 thus determined. Preferably, however, in addition to the friction coefficient 69, the target-actual deviation 15, the load characteristic 31, and / or the manipulated variable deviation 21 are also used to approximate 61 the friction coefficient 9. In the exemplary embodiment of method 1, the current friction coefficient 9 is used following the approximation 61 to perform 71 a subsequent operation 73. The subsequent operation 73 here is the provision 75 of a warning signal 77 on a warning light 392 of the vehicle 300. Furthermore, an electrical warning signal 79 is provided by the control unit 202 of the driver assistance system 200 on the vehicle network 348. The electrical warning signal 79 is thus also present at the autonomous unit 340 and can be used by it for future trajectory planning 55.Furthermore, by means of the electrical warning signal 79, the stability control system 388 can be placed into a preventive control mode 394, in which the stability control system 388 can detect and compensate for any instabilities of the vehicle 300 at an early stage. In the present exemplary embodiment, however, the stability control system 388 is only placed into the preventive control mode 394 if the current friction coefficient θ falls below a friction coefficient limit value. Thus, stabilizing interventions by the stability control system 388 are usually only necessary if the current friction coefficient θ is comparatively low, as is the case, for example, with an icy road surface 342.

[0062] Method 1 for approximating a coefficient of friction 9 was explained above for illustrative purposes using the control unit 202 of the driver assistance system 200. However, it should be understood that method 1 does not have to be performed by the control unit 202.

[0063] Reference symbol (part of the

[0064] Proceedings

[0065] Driving situation

[0066] Trajectory

[0067] path

[0068] Steering angle

[0069] Friction coefficient current vehicle configuration

[0070] Actual steering angle value

[0071] Steering angle expected value

[0072] Target-actual deviation

[0073] Vehicle position

[0074] Target position

[0075] Control variable deviation

[0076] Landscape storage

[0077] Directional error

[0078] Target alignment

[0079] Determine the load characteristics

[0080] Load characteristics

[0081] Mass distribution

[0082] Determining the expected steering angle value

[0083] Determining the actual steering angle value

[0084] Determining the manipulated variable deviation

[0085] Determine the vehicle position

[0086] Determining the trajectory

[0087] Determining the target-actual deviation

[0088] Monitoring the target-actual deviation

[0089] time

[0090] Trajectory deviation change rate

[0091] Determining a trajectory deviation change rate

[0092] curvature

[0093] Trajectory planning

[0094] Detecting a friction coefficient deviation

[0095] Friction value deviation Approximate

[0096] Control system intervention

[0097] Detecting a control system intervention

[0098] Determining a coefficient of friction

[0099] Friction coefficient

[0100] Performing a follow-up operation

[0101] Follow-up operation

[0102] Providing a warning signal

[0103] warning signal electrical warning signal

[0104] Driver assistance system

[0105] Control unit

[0106] interface

[0107] vehicle

[0108] commercial vehicle

[0109] front axle

[0110] rear axle

[0111] Additional axle

[0112] Direction of travel

[0113] front wheels

[0114] rear wheels

[0115] Additional wheels

[0116] Vehicle actuators

[0117] Brake system brake control unit

[0118] Brake modulator

[0119] Brake actuators

[0120] Steering steered wheels active steering

[0121] Steering control unit

[0122] actuator

[0123] Steering column autonomous unit / virtual driver

[0124] Road position controller

[0125] Vehicle network

[0126] Steering signals

[0127] curve

[0128] Curve entrance

[0129] Curve apex

[0130] Curve exit

[0131] Speed ​​unstable driving condition stable driving condition optical sensor

[0132] camera

[0133] Sensor signals

[0134] Mass distribution signals Expected value signals Actual value signals Position signals straight track section

[0135] Stability signals

[0136] Stability control system control system data warning light control mode

Claims

Patent claims 1 . Method (1 ) for approximating a coefficient of friction (9) between wheels (308, 310, 312) of a vehicle (300) in a current vehicle configuration (10) and a roadway (342), the method (1 ) comprising the following steps: Determining (42) a trajectory (5) of the vehicle (300) for a driving situation (3); Determining (35) a steering angle expectation value (13), which is a predicted value of a steering angle (8) to be set on the vehicle (300) in order to follow the trajectory (5); Determining (37) an actual steering angle value (11) which is set on the vehicle (300) in the driving situation (3); Determining (41) a vehicle position (17) of the vehicle (300) in the driving situation (3); Determining (39) a control variable deviation (21) between the steering angle expected value (13) and the steering angle actual value (11), and / or Determining (43) a target-actual deviation (15) between the vehicle position (17) during the driving situation (3) and the trajectory (5); and Approximating (61) the coefficient of friction (9) based on the determined manipulated variable deviation (21) and the determined target-actual deviation (15).

2. Method (1) according to claim 1, wherein the target-actual deviation (15) is or comprises a transverse offset (23) of the vehicle (300) from a path (7) encompassed by the trajectory (5).

3. Method (1) according to claim 1 or 2, wherein the target-actual deviation (15) is or includes a directional error (25) of the vehicle (300) relative to a target orientation (27) of the vehicle (300) included in the trajectory (5).

4. Method (1) according to one of claims 1 to 3, wherein the coefficient of friction (9) is only approximated if both a control variable deviation (21) and a target-actual deviation (15) are present.

5. Method (1) according to one of claims 1 to 4, further comprising: Performing trajectory planning (55) to obtain the trajectory (5).

6. Method (1) according to one of claims 1 to 5, further comprising: Determining (29) at least one load characteristic (31) of the current vehicle configuration (10); wherein the determination (35) of an expected steering angle value (13) is preferably carried out using the load characteristic (31).

7. The method (1) according to any one of claims 1 to 6, wherein the steering angle expected value (13) is determined based on a curvature (53) of the trajectory (5) and a wheelbase of the vehicle (300), a number of axles (302, 304, 306) of the vehicle (300) and / or a steerability of axles (302, 304, 306) of the vehicle (300).

8. Method (1) according to one of claims 1 to 7, further comprising: monitoring (45) the target-actual deviation (15), wherein the target-actual deviation (15) is determined continuously during monitoring (45) or is determined at several successive points in time (47); Determining (51) a trajectory deviation change rate (49) based on the target-actual deviations (15) determined during monitoring (45).

9. Method (1) according to claim 8, wherein the approximation (61) of the friction coefficient (9) only occurs if the trajectory deviation change rate (49) indicates an increasing target-actual deviation (15) of the vehicle position (17) from the trajectory (5).

10. Method (1) according to one of claims 1 to 9, wherein the approximation (61) of the friction coefficient (9) is carried out using a learned reference friction coefficient.

11. Method (1) according to one of claims 1 to 10, further comprising: detecting (65) a control system intervention (63) of a stability control system (388) of the vehicle (200); Determining (67) a coefficient of friction (69) using control system data (390) provided by the stability control system (388); wherein the approximation (61) of the coefficient of friction (9) is carried out alternatively or additionally based on the coefficient of friction (69) if a control system intervention (63) is detected.

12. The method (1) according to one of claims 1 to 11, further comprising carrying out (71) at least one subsequent operation (73) using the approximated coefficient of friction (9), wherein the subsequent operation (73) is or comprises providing (75) a warning signal (77, 79), placing a stability control system (388) in a preventive control mode (394), redetermining the trajectory (5) of the vehicle (300), determining a degree of freedom of movement limit value, limiting a degree of freedom of movement of the vehicle (300) and / or validating a coefficient of friction sensor (370), wherein the subsequent operation (73) is preferably only carried out if the approximated coefficient of friction (9) falls below a coefficient of friction limit value.

13. Driver assistance system (200) for a vehicle (300) which is designed to carry out the method (1) according to one of the preceding claims 1 to 12.

14. Vehicle (300) with at least two axles (302, 304, 306), an autonomous unit (340), a steering system (324), wherein the vehicle (300) has a driver assistance system (200) according to claim 13.

15. Computer program product with program code means stored on a computer-readable data carrier for carrying out the method (1) according to one of claims 1 to 12 when the computer program product is executed on a computing unit (202).

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