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1. WO2020198443 - FRICTION ESTIMATION FOR STEERING MANEUVERS FOR STATIONARY OR SLOW-ROLLING AUTOMOBILES

Publication Number WO/2020/198443
Publication Date 01.10.2020
International Application No. PCT/US2020/024905
International Filing Date 26.03.2020
IPC
B60W 40/06 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
06Road conditions
B60W 40/064 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
06Road conditions
064Degree of grip
B60W 40/068 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
06Road conditions
068Road friction coefficient
B60W 40/11 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
10related to vehicle motion
11Pitch movement
B60W 40/114 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
10related to vehicle motion
114Yaw movement
B60W 40/12 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
12related to parameters of the vehicle itself
Applicants
  • THE PENN STATE RESEARCH FOUNDATION [US]/[US]
Inventors
  • BEAL, Craig, E.
  • BRENNAN, Sean, N.
Agents
  • WATHEN, Douglas, L.
  • ANDERSON, Thomas, E.
  • JUSTICE, Jeremy, J.
  • FOSTER, Justin, B.
  • GOULD, Weston, R.
Priority Data
62/823,76126.03.2019US
62/874,56616.07.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) FRICTION ESTIMATION FOR STEERING MANEUVERS FOR STATIONARY OR SLOW-ROLLING AUTOMOBILES
(FR) ESTIMATION DE FROTTEMENT POUR DES MANŒUVRES DE DIRECTION POUR AUTOMOBILES À ROULEMENT FIXE OU LENT
Abstract
(EN)
A device for estimating a friction coefficient between a road surface and an automotive tire through determination of a steering torque during a steering maneuver of a slow-rolling or stationary vehicle includes a computer configured for constructing a brush model for a description of the steering torque across a contact patch between the tire and road surface. The steering torque is a torque acting on a steering axis required to overcome resistance to tire twisting on the road surface at a wheel velocity and a steering rate. The steering torque depends on a tire brush vertical load distribution and relative motion of tire brushes and the road surface. The device further includes sensors for measuring the wheel velocity and the steering rate and mechanism for measurements or estimation of the steering torque. The friction coefficient is estimated based on the measurements or estimation of the steering torque and the brush model.
(FR)
Un dispositif d'estimation d'un coefficient de frottement entre une surface de route et un pneu d'automobile par détermination d'un couple de direction pendant une manœuvre de direction d'un véhicule à roulement lent ou fixe comprend un ordinateur configuré pour construire un modèle de brosse pour une description du couple de direction à travers une surface de contact au sol entre le pneu et la surface de route. Le couple de direction est un couple agissant sur un axe de direction requis pour surmonter la résistance à la torsion du pneu sur la surface de route à une vitesse de roue et à une vitesse angulaire du volant. Le couple de direction dépend d'une répartition de charge verticale de brosses de pneu et du mouvement relatif des brosses de pneu et de la surface de route. Le dispositif comprend en outre des capteurs pour mesurer la vitesse de roue et la vitesse angulaire du volant et le mécanisme pour des mesures ou une estimation du couple de direction. Le coefficient de frottement est estimé sur la base des mesures ou de l'estimation du couple de direction et du modèle de brosse.
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