Apparatus and method for estimating maximum road friction coefficient

• US 6,473,682 B2
• Filed: 11/13/2001
• Issued: 10/29/2002
• Est. Priority Date: 11/20/2000
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nakamura, Akira
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/987,140
• Publication Number:
  US 20020111752A1
• Time in Patent Office: 350 Days
• Field of Search: 701/74, 701/80, 701/71, 180/197, 73/9, 73/10, 152/454, 152/525, 152/538, 152/209.2, 152/209.18, 303/150
• US Class Current: 701/74
• CPC Class Codes: B60T 2210/12 Friction
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G01N 19/02 Measuring coefficient of friction between materials testing of tyres G01M17/02; determinations of friction coefficient used in vehicle braking or traction control systems B60T8/172

Abstract

An apparatus and method that determines a maximum road friction coefficient for each wheel regardless of whether the tire is in a predetermined drive slip state, and whether the wheel is a driving wheel. The braking force of each wheel is calculated, and the longitudinal force of the tire of each wheel is calculated. Then, the driving force of the vehicle is calculated, and the lateral force of the tire of each wheel is calculated. Next, the reaction force of the road to each wheel is calculated, and the vertical load of each wheel is calculated. Finally, the ratio of variation in reaction force of the road to variation in composite slip ratio is calculated for each wheel. The sum of the ratio of the reaction force of the road to the vertical load, and the product of a predetermined coefficient and the ratio of variation in reaction force of the road to variation in composite slip ratios is calculated for each wheel as the maximum road friction coefficient.

Claims

1. A controller for determining a maximum friction coefficient between a tire of a wheel and a road, comprising:

a first section that calculates a reaction force of the road to the tire of the wheel based on a tire model;

a second section that calculates a vertical load of the tire of the wheel;

a third section that calculates as a first ratio, a ratio of the reaction force of the road to the vertical load;

a fourth section that calculates as a second ratio, a ratio of variation in the reaction force of the road to variation in a slip ratio of the tire, the slip ratio being calculated based on the tire model; and

a fifth section that calculates a maximum road friction coefficient based on a product of a predetermined coefficient and the second ratio, and the first ratio.

2. The controller according to claim 1, wherein the fifth section calculates the maximum road friction coefficient by adding the first ratio to the product of the predetermined coefficient and the second ratio.

3. The controller according to claim 1, wherein the reaction force of the road is a reaction force in a two-dimensional plane on the road.

4. The controller according to claim 1, wherein the slip ratio is a composite slip ratio in a direction of the reaction force of the road.

5. The controller according to claim 1, wherein the first section further determines a longitudinal force and a lateral force of the tire of the wheel, and calculates the reaction force of the road to the tire of the wheel based on the longitudinal force and the lateral force of the tire.

6. The controller according to claim 5, wherein a series of calculations of the first to fifth sections is repeatedly conducted at predetermined intervals of time.

7. The controller according to claim 6, wherein the first section calculates the reaction force of the road to the tire of the wheel by using the longitudinal force of the tire of the wheel that is calculated based on a longitudinal acceleration of a vehicle, a steering angle, a braking force of the wheel, and a previous calculated value of the lateral force of the tire of the wheel.

8. The controller according to claim 5, wherein the first section calculates the reaction force of the road to the tire by using a lateral force of a tire of a front wheel that is calculated based on a yaw rate of a vehicle, a lateral acceleration of the vehicle, and the longitudinal force of the tire of the wheel.

9. The controller according to claim 5, wherein the first section calculates the reaction force of the road to the tire by using a lateral force of a tire of a rear wheel that is calculated based on a lateral acceleration of a vehicle, the longitudinal force of the tire of the wheel, and a lateral force of a tire of a front wheel.

10. A method for determining a maximum friction coefficient between a tire of a wheel and a road, comprising the steps of:

calculating a reaction force of the road to the tire of the wheel based on a tire model;

calculating a vertical load of the tire of the wheel;

calculating as a first ratio a ratio of the reaction force of the road to the vertical load;

calculating as a second ratio a ratio of variation in the reaction force of the road to variation in a slip ratio of the tire, the slip ratio being calculated based on the tire model; and

calculating a maximum road friction coefficient based on a product of a predetermined coefficient and the second ratio, and the first ratio.

11. The method according to claim 10, wherein the maximum road friction coefficient is calculated by adding the first ratio to the product of the predetermined coefficient and the second ratio.

12. The method according to claim 10, wherein the reaction force of the road is a reaction force in a two-dimensional plane on the road.

13. The method according to claim 10, wherein the slip ratio is a composite slip ratio in a direction of the reaction force of the road.

14. The method according to claim 10, wherein the step of calculating the vertical load of the tire of the wheel includes the steps of estimating a longitudinal force and a lateral force of the tire of the wheel, and calculating the reaction force of the road to the tire of the wheel based on the longitudinal force and the lateral force of the tire.

15. The method according to claim 14, wherein a series of the steps in the method is repeatedly conducted at predetermined intervals of time.

16. The method according to claim 15, wherein the step of calculating the vertical load of the tire of the wheel includes the step of calculating the reaction force of the road to the tire of the wheel by using the longitudinal force of the tire of the wheel that is calculated based on a longitudinal acceleration of a vehicle, a steering angle, a braking force of the wheel, and a previous calculated value of the lateral force of the tire of the wheel.

17. The method according to claim 14, wherein the step of calculating the vertical load of the tire of the wheel includes the step of calculating the reaction force of the road to the tire by using a lateral force of a tire of a front wheel that is calculated based on a yaw rate of a vehicle, a lateral acceleration of the vehicle, and the longitudinal force of the tire of the wheel.

18. The method according to claim 14, wherein the step of calculating the vertical load of the tire of the wheel includes the step of calculating the reaction force of the road to the tire by using a lateral force of a tire of a rear wheel that is calculated based on a lateral acceleration of a vehicle, the longitudinal force of the tire of the wheel, and a lateral force of a tire of a front wheel.

19. A controller for determining a maximum friction coefficient between a tire of a wheel and a road, comprising:

a first section that calculates a reaction force of the road to the tire;

a second section that calculates a vertical load of the tire;

a third section that calculates variation in a slip ratio of the tire;

a fourth section that calculates variation in the reaction force of the road to the tire; and

a fifth section that calculates a maximum road friction coefficient based on the reaction force of the road, the vertical load, the variation in the slip ratio, and the variation in the reaction force of the road.