To obtain an estimate friction maximum value which is the maximum value of a friction coefficient to be estimated between a road surface and a tire of a vehicle, by suppressing an adverse effect of a non-periodic disturbance.SOLUTION: A range determination unit 16 defines a determination range Rj which contains an average value μpmdav, on the basis of the average value μpmdav obtained from repeatedly calculated plural tentative friction maximum values μpmd, and a standard deviation σpmd. When the tentative friction maximum values μpmd fall within the determination range Rj, a second estimation unit 22 determines the tentative friction maximum values μpmd as estimate friction maximum values μp. On the other hand, when the tentative friction maximum values μpmd fall outside the determination range Rj, the second estimation unit 22 determines a correction value which falls within the determination range Rj, as the estimate friction maximum value μp. Accordingly, when the tentative friction maximum values μpmd non-periodically vary, since the correction value is adopted as the estimate friction maximum value μp, the estimate friction maximum value μp can be obtained by suppressing an adverse effect of a non-periodic disturbance.SELECTED DRAWING: Figure 10

    【課題】路面と車両のタイヤとの間の推定される摩擦係数の最大値である推定摩擦最大値を、非周期的な外乱の影響を抑えて得る。【解決手段】範囲決定部16は、繰り返し算出された複数の暫定摩擦最大値μpmdから得られる平均値μpmdavと標準偏差σpmdとに基づき、その平均値μpmdavを含む判定範囲Rjを定める。そして、第2推定部22は、暫定摩擦最大値μpmdがその判定範囲Rj内である場合には、その暫定摩擦最大値μpmdを推定摩擦最大値μpとして決定する。その一方で、第2推定部22は、暫定摩擦最大値μpmdが判定範囲Rjから外れている場合には、判定範囲Rj内の値である修正値を推定摩擦最大値μpとして決定する。これにより、暫定摩擦最大値μpmdが非周期的にばらついた場合には、上記修正値が推定摩擦最大値μpになるので、非周期的な外乱の影響を抑えて推定摩擦最大値μpを得ることができる。【選択図】図10


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    Title :

    ROAD SURFACE FRICTION ESTIMATION DEVICE


    Additional title:

    路面摩擦推定装置


    Contributors:

    Publication date :

    2025-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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