公开(公告)号：US08315758B2

公开(公告)日：2012-11-20

申请号：US12704085

申请日：2010-02-11

申请人： Toru Takenaka ,  Hiroyuki Urabe ,  Osamu Yano ,  Yoshihiro Mori ,  Tomoya Ushimura

发明人： Toru Takenaka ,  Hiroyuki Urabe ,  Osamu Yano ,  Yoshihiro Mori ,  Tomoya Ushimura

IPC分类号： G01M17/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/068 ,  B62D6/006 ,  Y10T152/10792

摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.

摘要翻译： 路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦 已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。 根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数 。

公开(公告)号：US20100211256A1

公开(公告)日：2010-08-19

申请号：US12704085

申请日：2010-02-11

申请人： Toru Takenaka ,  Hiroyuki Urabe ,  Osamu Yano ,  Yoshihiro Mori ,  Tomoya Ushimura

发明人： Toru Takenaka ,  Hiroyuki Urabe ,  Osamu Yano ,  Yoshihiro Mori ,  Tomoya Ushimura

IPC分类号： G06F7/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/068 ,  B62D6/006 ,  Y10T152/10792

摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.

摘要翻译： 路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦 已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。 根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数 。