An acquisition part (710) acquires the rotational speeds (É FL , É FR , É RL , É RR ) of a plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ) of a moving vehicle (MV), and normal reaction forces (N FL , N FR , N RL , N RR ) acting on the plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ). Subsequently, a friction coefficient information calculation part (720) calculates friction coefficients (µ FL , µ FR, µ RL, µ RR ) relating to the plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ) on the basis of torque command values for the plurality of driving wheels (WH FL , WH FR , WH RL, WH RR ) transmitted from a torque control part (740) and the results of acquisition by the acquisition part (710). A slip ratio calculation part (730) calculates the slip ratios (» FL , » FR, » RL, » RR ) of the plurality of driving wheels (WH FL, WH FR , WH RL, WH RR ) on the basis of the calculated friction coefficients (µ FL, µ FR, µ RL, µ RR ), and the rotational speeds (É FL , É FR, É RL , É RR ) acquired by the acquisition part (710). Consequently, the slip ratios of the respective driving wheels are easily, rapidly, and accurately estimated.
SLIP RATIO ESTIMATION DEVICE AND SLIP RATIO ESTIMATION METHOD
VORRICHTUNG ZUR SCHÄTZUNG DES SCHLUPFVERHÄLTNISSES UND VERFAHREN ZUR SCHÄTZUNG DES SCHLUPFVERHÄLTNISSES
DISPOSITIF D'ESTIMATION DE COEFFICIENT DE PATINAGE ET PROCÉDÉ D'ESTIMATION DE COEFFICIENT DE PATINAGE
2015-07-29
Patent
Electronic Resource
English
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 |
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