A road surface friction estimation device is provided with a first estimation unit (11) that repeatedly calculates a provisional maximum friction value, a range determination unit (16), and a second estimation unit (22). On the basis of an average value ([mu] pmdav) and a standard deviation ([sigma] pmd) obtained from the plurality of provisional maximum friction values ([mu] pmd) that have been repeatedly calculated, a range determination unit determines a determination range (Rj) including the average value. When the provisional maximum friction value is within the determination range, the second estimation unit determines the provisional maximum friction value as an estimated maximum friction value ([mu] p). When the provisional maximum friction value deviates from the determination range, the second estimation unit determines, as an estimated maximum friction value, a correction value that is a value within the determination range. Thus, when the provisional maximum friction value fluctuates aperiodically, the correction value becomes the estimated maximum friction value, and thus the estimated maximum friction value can be obtained while suppressing the influence of aperiodic external disturbance.
本发明提供路面摩擦推定装置,其具备反复计算暂定摩擦最大值的第一推定部(11)、范围决定部(16)以及第二推定部(22)。范围决定部基于根据反复计算的多个暂定摩擦最大值(μpmd)而获得的平均值(μpmdav)和标准偏差(σpmd),来确定包含该平均值在内的判定范围(Rj)。第二推定部在暂定摩擦最大值位于该判定范围内的情况下,将该暂定摩擦最大值决定为推定摩擦最大值(μp)。第二推定部在暂定摩擦最大值从判定范围偏离的情况下,将作为判定范围内的值的修正值决定为推定摩擦最大值。由此,在暂定摩擦最大值非周期地波动的情况下,上述修正值成为推定摩擦最大值,因此能够抑制非周期性的外部干扰的影响地获得推定摩擦最大值。
Road surface friction estimation device
路面摩擦推定装置
28.03.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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