公开(公告)号：US20100145566A1

公开(公告)日：2010-06-10

申请号：US12515573

申请日：2007-10-22

申请人： Ning Bian ,  Jens Fiedler ,  Celine Gamulescu ,  Andereas Mayer

发明人： Ning Bian ,  Jens Fiedler ,  Celine Gamulescu ,  Andereas Mayer

IPC分类号： G06F7/00 ,  B62D15/02

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2230/02

摘要： A friction coefficient between at least one tire of a motor vehicle and a roadway is estimated recursively. A kingpin inclination angle is detected or measured. A model determines a lateral friction value by defining a functional correlation between that value and the angle such that a non-linear course of that value relative to the angle is dependant on an initial increase of that value relative to the angle and on a recursively determined estimated value of the friction coefficient. The initial increase is defined substantially independently from the recursively determined estimated value. In addition, a measurement variable of the driving dynamics is captured. Depending on the lateral friction value, the driving dynamics model variable is determined. Furthermore, a variance between the driving dynamics measurement variable and the driving dynamics model value is determined. The recursion when acquiring the estimated value includes that the estimated value is adjusted.

摘要翻译： 递归地估计机动车辆的至少一个轮胎和道路之间的摩擦系数。 检测或测量主销倾斜角度。 模型通过定义该值和角度之间的功能相关性来确定横向摩擦值，使得该值相对于角度的非线性过程取决于该值相对于角度的初始增加，并且依赖于递归确定 摩擦系数的估计值。 初始增加基本上独立于递归确定的估计值来定义。 此外，捕获驾驶动态的测量变量。 根据横向摩擦值，确定驾驶动力学模型变量。 此外，确定驾驶动态测量变量与驾驶动力学模型值之间的差异。 获取估计值时的递归包括估计值被调整。