Road-surface friction coefficient estimating device and road-surface friction coefficient estimating method
First Claim
1. A road-surface friction coefficient estimating device for estimating a road-surface friction coefficient by updating the road-surface friction coefficient with time lapse based on an estimated present value of the road-surface friction coefficient, comprising:
- a specifying unit for specifying the road-surface friction coefficient based on road-surface information detected by a road-side infrastructure in a traveling direction of a vehicle when the road-surface information is acquired; and
an estimating unit for setting as an initial value the road-surface friction coefficient thus specified, resetting the present value of the road-surface friction coefficient to the initial value and then starting estimation of the road-surface friction coefficient with the initial value as a standard.
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Abstract
A road surface μ is updated with time on the basis of a present value (an estimation value E) of the road surface μ estimated to estimate the road surface μ. In this case, if there is acquired road-surface information in a vehicle travel direction that is detected by a road-side infrastructure, a specifying unit 11 specifies a road-surface friction coefficient based on the road-surface information. An estimating unit 12 sets the road surface μ (μinf) thus specified as an initial value, resets the present value of the road surface μ to the initial value, and then starts estimation of the road-surface friction coefficient based on this initial value. Accordingly, estimation precision of a road-surface friction coefficient is enhanced by using an initial value having high reliability in autonomous estimation of the road-surface friction coefficient.
65 Citations
9 Claims
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1. A road-surface friction coefficient estimating device for estimating a road-surface friction coefficient by updating the road-surface friction coefficient with time lapse based on an estimated present value of the road-surface friction coefficient, comprising:
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a specifying unit for specifying the road-surface friction coefficient based on road-surface information detected by a road-side infrastructure in a traveling direction of a vehicle when the road-surface information is acquired; and
an estimating unit for setting as an initial value the road-surface friction coefficient thus specified, resetting the present value of the road-surface friction coefficient to the initial value and then starting estimation of the road-surface friction coefficient with the initial value as a standard. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A road-surface friction coefficient estimating method for estimating a road-surface friction coefficient by updating the road-surface friction coefficient with time lapse based on an estimated present value of the road-surface friction coefficient, comprising:
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a first step of specifying the road-surface friction coefficient based on road-surface information detected by a road-side infrastructure in a traveling direction of a vehicle when the road-surface information is acquired; and
a second step of setting as an initial value the road-surface friction coefficient thus specified, resetting the present value of the road-surface friction coefficient to the initial value and then starting estimation of the road-surface friction coefficient with the initial value as a standard. - View Dependent Claims (9)
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Specification