Patent ID: 6662097
Filing Date: 2003-12-09
Classification: B60T

Abstract:
A system for computing a road surface frictional coefficient for controlling a motion of a vehicle, comprising:a vehicle body fore-and-aft acceleration sensor for detecting a vehicle body fore-and-aft acceleration; a vehicle body lateral acceleration sensor for detecting a vehicle body lateral acceleration; a wheel speed sensor for detecting a road wheel speed; a vehicle body speed estimating unit for computing a vehicle body speed according to the wheel speed; a tire slip ratio computing unit for computing a tire slip ratio according to the vehicle body speed and wheel speed; a tire model defining unit for defining a dynamic tire model; a tire fore-and-aft force computing unit for computing tire fore-and-aft force according to the tire slip ratio and tire model; an estimated vehicle body fore-and-aft acceleration computing unit for estimating the vehicle body fore-and-aft acceleration according to the tire fore-and-aft force; a tire lateral force computing unit for computing a tire lateral force according to the tire slip ratio and tire model; an estimated vehicle body lateral acceleration computing unit for estimating the vehicle body lateral acceleration according to the tire lateral force; and a road surface frictional coefficient computing unit for computing a road surface frictional coefficient according to at least one of a result of comparison between the detected vehicle body fore-and-aft acceleration and estimated vehicle body fore-and-aft acceleration, and a result of comparison between the detected vehicle body lateral acceleration and estimated vehicle body lateral acceleration.