公开(公告)号：US08370019B2

公开(公告)日：2013-02-05

申请号：US12515573

申请日：2007-10-22

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

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

IPC分类号： G06F17/10

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。

公开(公告)号：US20110015906A1

公开(公告)日：2011-01-20

申请号：US12741245

申请日：2008-11-07

申请人： Ning Bian ,  Celine Gamulescu ,  Thomas Haas ,  Matthias Kretschmann

发明人： Ning Bian ,  Celine Gamulescu ,  Thomas Haas ,  Matthias Kretschmann

IPC分类号： G06F17/10 ,  G06F17/11

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： In a method for determining a coefficient of friction between a motor vehicle tire of a motor vehicle and the surface of a roadway, a first coefficient of friction parameter (μest—used,ij) is determined using a model (RM) in which a functional correlation between the first coefficient of friction parameter (μest—used,ij) and a slip (Sij) of the motor vehicle tire is set. A second coefficient of friction parameter (μquasi—meas—used,ij) is determined from the quotient between a longitudinal force (FL) and a vertical force (FZ) of the motor vehicle tire. The first and the second coefficient of friction parameters (μest—used,ij, μquasi—meas—used,ij) are used to determine the coefficient of friction (μR,ij) by a recursive estimation algorithm.

摘要翻译： 在用于确定机动车辆的机动车辆轮胎和道路表面之间的摩擦系数的方法中，使用模型（RM）来确定第一摩擦系数参数（μest-used，ij），其中功能 设定第一摩擦系数参数（μest-used，ij）与机动车辆轮胎的滑移（Sij）之间的相关性。 根据机动车辆轮胎的纵向力（FL）和垂直力（FZ）之间的商确定第二摩擦系数参数（μquasi-meas-used，ij）。 使用第一和第二摩擦系数参数（μest-used，ij，μquasi-meas-used，ij）通过递归估计算法来确定摩擦系数（μR，ij）。

公开(公告)号：US08437907B2

公开(公告)日：2013-05-07

申请号：US12517688

申请日：2007-10-31

申请人： Ning Bian ,  Celine Gamulescu ,  Andreas Mayer ,  Thomas Schweiger

发明人： Ning Bian ,  Celine Gamulescu ,  Andreas Mayer ,  Thomas Schweiger

IPC分类号： G01M17/00 ,  B60G17/018 ,  A01B69/00 ,  G06F7/70 ,  G06F19/00 ,  B60T7/12 ,  B60T7/16 ,  B62D1/24 ,  B60K28/16

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： In a method for determining a roadway state (STATE) of a roadway on which a vehicle (10) is travelling which has at least one wheel (14) and an acceleration sensor (24) which is assigned to the wheel (14), in order to determine a vertical component of an acceleration of the wheel (14), a characteristic value which is representative of the roadway state (STATE) is determined as a function of a measured signal (AC_VERT) of the acceleration sensor (18).

摘要翻译： 在确定车辆（10）正在行驶的道路状态（STATE）的方法中，车道（10）具有至少一个车轮（14）和分配给车轮（14）的加速度传感器（24），其中 为了确定车轮（14）的加速度的垂直分量，根据加速度传感器（18）的测量信号（AC_VERT）确定代表道路状态（STATE）的特征值。

公开(公告)号：US20100145567A1

公开(公告)日：2010-06-10

申请号：US12517688

申请日：2007-10-31

申请人： Ning Bian ,  Celine Gamulescu ,  Andreas Mayer ,  Thomas Schweiger

发明人： Ning Bian ,  Celine Gamulescu ,  Andreas Mayer ,  Thomas Schweiger

IPC分类号： G06F7/00

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： The invention relates to a method for determining a roadway state (STATE) of a roadway on which a vehicle (10) is travelling which has at least one wheel (14) and an acceleration sensor (24) which is assigned to the wheel (14) in order to determine a vertical component of an acceleration of the wheel (14), in which method—a characteristic value which is representative of the roadway state (STATE) is determined as a function of a measured signal (AC_VERT) of the acceleration sensor (18).

摘要翻译： 本发明涉及一种用于确定车辆（10）行进的道路状态（STATE）的方法，车道（10）具有至少一个车轮（14）和分配给车轮（14）的加速度传感器（24） ），以便确定所述车轮（14）的加速度的垂直分量，其中所述方法 - 表示所述道路状态（STATE）的特征值被确定为所述加速度的测量信号（AC_VERT）的函数 传感器（18）。

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。