This invention relates to a method and an apparatus, respectively, for estimating a friction coefficient in a moving vehicle. For this purpose, image data from a forward-looking vehicle camera is analyzed in the vehicle so as to allow conclusions with respect to the road surface. The camera image data is used to perform a friction coefficient classification which provides a camera friction coefficient μk. A tire slip and a tire vibration are analyzed based on a wheel speed signal and are used to perform a classification of the friction coefficient which provides a wheel friction coefficient μw. Proactive estimation of the friction coefficient is performed as a merger of the camera and wheel friction coefficients, wherein the proactive friction coefficient estimation is primarily based on the camera friction coefficient μk but the wheel friction coefficient μw is continuously taken into account to check the camera friction coefficient μk for plausibility.
Friction Coefficient Estimation from Camera and Wheel Speed Data
2015-09-10
Patent
Elektronische Ressource
Englisch
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G06K Erkennen von Daten , RECOGNITION OF DATA |
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