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METHOD AND APPARATUS FOR ROAD SURFACE FRICTION ESTIMATION BASED ON THE SELF ALIGNING TORQUE

  • US 20110130974A1
  • Filed: 09/07/2010
  • Published: 06/02/2011
  • Est. Priority Date: 09/09/2009
  • Status: Abandoned Application
First Claim
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1. A method for estimating a road surface friction between a road surface and a tire of a vehicle, comprising the steps of:

  • computing in a slope estimation step, a slope estimate k_sl for a slope of a linear region of a self aligning torque function, the self aligning torque function being defined by a self aligning torque as a function of a slip angle;

    deriving a first estimate μ

    _sl of a road friction coefficient μ

    from the slope estimate k_sl;

    deciding, in a linearity estimation step, whether a current slope k_op is within the linear region of the self aligning torque function; and

    outputting the first estimate μ

    _sl of the road friction coefficient as a second estimate μ

    _cont of the road friction coefficient if it is decided in the linearity estimation step that the current slope k_op is within the linear region of the self aligning torque function.

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