# Patent

## Title
Road-surface friction-coefficient estimating device

## Abstract

A road-surface friction-coefficient estimating device compares a rack-thrust-force deviation value with a preliminarily set maximum-value-determination threshold value. If the rack-thrust-force deviation value is above the maximum-value-determination threshold value, the device determines that tires are slipping, and sets a front-wheel friction-circle utilization rate in that state as a road-surface friction coefficient. If the rack-thrust-force deviation value is below the maximum-value-determination threshold value, the device refers to a preliminarily set map to determine a restoring speed at which the road-surface friction coefficient is to be restored to 1.0 based on a vehicle speed and a front-wheel slip angle. While restoring the road-surface friction coefficient at the restoring speed, the device calculates and outputs the road-surface friction coefficient.

## Background
CROSS REFERENCES TO RELATED APPLICATIONS
The disclosure of Japanese Patent Application No. 2007-109622 filed on Apr. 18, 2007 including the specifications, drawings, and abstracts are incorporated by references herein.
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a road-surface friction-coefficient estimating device of a vehicle estimating a road-surface friction coefficient over a broad driving range.
2. Description of the Related Art
In recent years, there have been developed and put in practical use various control technologies for vehicles, such as traction control, braking-force control, and torque-distribution control. These technologies generally utilize a road-surface friction coefficient for the calculation or correction of required control parameters. In order to perform the control properly, it is necessary to estimate a road-surface friction coefficient with high accuracy.
With regard to technologies for estimating a road-surface friction coefficient, the present applicant also has proposed in Japanese Unexamined Patent Application Publication No. 8-2274 a technology for estimating a road-surface friction coefficient from, for example, a steering angle, a vehicle speed, and a yaw rate using an adaptive control theory. According to this technology, a yaw movement or lateral movement of a vehicle is modeled, and is compared with a yaw movement or lateral movement of an actual vehicle. In accordance with this comparison, the tire characteristics are estimated every second so that a road-surface friction coefficient can be estimated.
However, in the above-mentioned device , there are cases where estimation of a road-surface friction coefficient is not possible such as when a steering angle is at 0°. In that case, even if the road condition has changed from a low μ road to a high μ road, the previously estimated value of the road-surface friction coefficient for the low μ road will still be used on the high μ road. This makes it difficult to perform vehicle behavior control with high accuracy. For example, in the case of traction control where torque is controlled by calculating an optimum grip force using an estimated value of a road-surface friction coefficient, an acceleration control amount that corresponds to a low μ road will be unfavorably set even though the vehicle is actually on a high μ road. In this case, there is a possibility that the vehicle will not exhibit its original acceleration performance.
SUMMARY OF THE INVENTION
In view of the circumstances described above, it is an object of the present invention to provide a road-surface friction-coefficient estimating device that can appropriately set a road-surface friction coefficient even in a condition where estimation of a road-surface friction coefficient is difficult, so that the potential that vehicle behavior control has can be exhibited to a maximum extent.
The present invention provides a road-surface friction-coefficient estimating device including a vehicle-speed detecting unit configured to detect a vehicle speed; a vehicle-wheel slip-angle detecting unit configured to detect a slip angle of a wheel; a restoring-speed setting unit configured to set a restoring speed at which a road-surface friction coefficient is to be restored to a preliminarily set value based on the vehicle speed and the slip angle of the wheel; and a road-surface friction-coefficient estimating unit configured to estimate the road-surface friction coefficient by allowing the road-surface friction coefficient to be restored to the set value at the restoring speed.
According to the road-surface friction-coefficient estimating device of the present invention, a road-surface friction coefficient can be appropriately set even in a condition where estimation of a road-surface friction coefficient is difficult, whereby the potential that vehicle behavior control has can be exhibited to a maximum extent.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a functional block diagram of a road-surface friction-coefficient estimating device;
FIG. 2 is a flow chart of a road-surface friction-coefficient estimating program;
FIG. 3 is a diagram illustrating steering-angle versus steering-torque characteristics;
FIG. 4 is a characteristic diagram of a restoring speed set in accordance with a vehicle speed and a front-wheel slip angle;
FIG. 5A illustrates a relationship between a steering-stability capacity and a vehicle speed and FIG. 5B illustrates a relationship between a steering-stability capacity and a slip angle; and
FIG. 6 is a timing diagram that shows an example of road-surface friction-coefficient estimation according to this embodiment.



DESCRIPTION OF THE PREFERRED EMBODIMENTS
Embodiments of the present invention will now be described with reference to the drawings.
FIGS. 1 to 6 illustrate an embodiment of the present invention. Specifically, FIG. 1 is a functional block diagram of a road-surface friction-coefficient estimating device, FIG. 2 is a flow chart of a road-surface friction-coefficient estimating program, FIG. 3 is a diagram illustrating steering-angle versus steering-torque characteristics, FIG. 4 is a characteristic diagram of a restoring speed set in accordance with a vehicle speed and a front-wheel slip angle, FIG. 5A illustrates a relationship between a steering-stability capacity and a vehicle speed, FIG. 5B illustrates a relationship between a steering-stability capacity and a slip angle, and FIG. 6 is a timing diagram that shows an example of road-surface friction-coefficient estimation according to this embodiment. In this embodiment, a vehicle equipped with the road-surface friction-coefficient estimating device is directed to a four-wheel-drive vehicle having a center differential as an example. In this vehicle, a limited-slip differential clutch (tightening torque TLSD) allows a longitudinal driving-force distribution to be adjustable on the basis of a base torque distribution Rf—cd by the center differential.
Referring to FIG. 1, reference numeral 1 denotes a road-surface friction-coefficient estimating device installed in a vehicle for estimating a road-surface friction coefficient. The road-surface friction-coefficient estimating device 1 is connected to wheel-speed sensors 11 for four individual wheels, a steering-wheel-angle sensor 12, a yaw-rate sensor 13, an engine control unit 14, a transmission control unit 15, a lateral acceleration sensor 16, a steering-torque sensor 17, and an electric power steering motor 18, and receives therefrom signals indicating wheel speeds ωfl, ωfr, ωrl, and ωrr of the individual wheels (the additional characters “fl”, “fr”, “rl”, and “rr” respectively indicating a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel), a steering-wheel angle θH, a yaw rate γ, an engine torque Teg, an engine speed Ne, a main transmission gear ratio i, a turbine speed Nt of a torque converter, a tightening torque TLSD of a limited-slip differential clutch, a lateral acceleration (d2y/dt2), a driver steering force Fd, and an assist force FEPS by electric power steering.
As shown in FIG. 1, based on these input signals, the road-surface friction-coefficient estimating device 1 executes a road-surface friction-coefficient estimating program to be described hereinafter so as to estimate and output a road-surface friction coefficient μ. Specifically, the road-surface friction-coefficient estimating device 1 mainly includes a vehicle-speed calculating portion 1a, a front-wheel slip-angle calculating portion 1b, a front-wheel ground-load calculating portion 1c, a front-wheel longitudinal-force calculating portion 1d, a front-wheel lateral-force calculating portion 1e, a front-wheel friction-circle utilization-rate calculating portion 1f, a presumptive rack-thrust-force calculating portion 1g, a reference rack-thrust-force calculating portion 1h, a rack-thrust-force deviation calculating portion 1i, and a road-surface friction-coefficient estimating portion 1j. 
The vehicle-speed calculating portion 1a receives the wheel speeds ωfl, ωfr, ωrl, and ωrr of the individual wheels from the wheel-speed sensors 11, calculates an average of these values to determine a vehicle speed V(=ωfl+ωfr, +ωrl+ωrr)/4, and then outputs the vehicle speed V to the front-wheel slip-angle calculating portion 1b and the road-surface friction-coefficient estimating portion 1j. In other words, the vehicle-speed calculating portion 1a is provided as vehicle-speed detecting unit.
The front-wheel slip-angle calculating portion 1b receives the steering-wheel angle θH from the steering-wheel-angle sensor 12, the yaw rate γ from the yaw-rate sensor 13, and the vehicle speed V from the vehicle-speed calculating portion 1a. Subsequently, the front-wheel slip-angle calculating portion 1b calculates a front-wheel slip angle βf on the basis of a driving model of the vehicle as will be described hereinafter, and then outputs the front-wheel slip angle βf to the reference rack-thrust-force calculating portion 1h and the road-surface friction-coefficient estimating portion 1j. In other words, the front-wheel slip-angle calculating portion 1b is provided as vehicle-wheel slip-angle detecting unit.
An equation of motion related to a translational movement of the vehicle in the lateral direction thereof is expressed as follows:

2·Cf+2·Cr=m·(d2y/dt2)  (1)

where Cf indicates a cornering force of each of the front wheels, Cr indicates a cornering force of each of the rear wheels, and m indicates a vehicle mass.

On the other hand, an equation of motion related to a rotational movement around the center of gravity is expressed as follows:

2·Cf·Lf−2·Cr·Lr=Iz·(dγ/dt)  (2)

where Lf indicates a distance between the center of gravity and the front axle, Lr indicates a distance between the center of gravity and the rear axle, Iz indicates a yaw moment of inertia of the vehicle body, and (dγ/dt) indicates yaw-angle acceleration.

If a vehicle slip angle is indicated by β and a vehicle slip-angle rate is indicated by (dβ/dt), the lateral acceleration (d2y/dt2) can be expressed as follows:

(d2y/dt2)=V·((dβ/dt)+γ)  (3)

Accordingly, the aforementioned equation (1) becomes the following equation (4):

2·Cf+2·Cr=m·V·((dβ/dt)+γ)  (4)

Although a cornering force responds to a lateral slip angle of a tire by about a first-order time lag, a cornering force linearized by ignoring such a time lag and using an equivalent cornering power including suspension characteristics and tire characteristics can be expressed as follows:

Cf=Kf·βf  (5)

Cr=Kr·βr  (6)

where Kf indicates a front-wheel equivalent cornering power, Kr indicates a rear-wheel equivalent cornering power, βf indicates a front-wheel slip angle, and βr indicates a rear-wheel slip angle.

In view of the effects of the roll or the suspension in the equivalent cornering power Kf and equivalent cornering power Kr, the slip angles βf and βr of the front and rear wheels can be simplified as follows using the equivalent cornering power Kf and equivalent cornering power Kr:




  
    
      
        
          β
          f
        
        =
        
          
            
              δ
              f
            
            -
            
              (
              
                β
                +
                
                  
                    L
                    f
                  
                  ·
                  
                    γ
                    /
                    V
                  
                
              
              )
            
          
          ⁢
          
            

          
          ⁢
          
            
          
          =
          
            
              (
              
                
                  θ
                  H
                
                /
                n
              
              )
            
            -
            
              (
              
                β
                +
                
                  
                    L
                    f
                  
                  ·
                  
                    γ
                    /
                    V
                  
                
              
              )
            
          
        
      
    
    
      
        (
        7
        )
      
    
  
  
    
      
        
          β
          r
        
        =
        
          
            δ
            r
          
          -
          
            (
            
              β
              -
              
                
                  L
                  r
                
                ·
                
                  γ
                  /
                  V
                
              
            
            )
          
        
      
    
    
      
        (
        8
        )
      
    
  




where δf indicates a front-wheel steering angle, δr indicates a rear-wheel steering angle, and n indicates a steering gear ratio.

Summarizing the aforementioned equations of motion, the following equation of state (9) can be obtained:




  
    
      
        
          
            (
            
              
                dx
                ⁡
                
                  (
                  t
                  )
                
              
              /
              dt
            
            )
          
          =
          
            
              A
              ·
              
                x
                ⁡
                
                  (
                  t
                  )
                
              
            
            +
            
              B
              ·
              
                u
                ⁡
                
                  (
                  t
                  )
                
              
            
          
        
        ⁢
        
          

        
        ⁢
        
          
            x
            ⁡
            
              (
              t
              )
            
          
          =
          
            
              [
              
                
                  
                    β
                  
                  
                    γ
                  
                
              
              ]
            
            T
          
        
        ⁢
        
          

        
        ⁢
        
          
            u
            ⁡
            
              (
              t
              )
            
          
          =
          
            
              [
              
                
                  
                    
                      θ
                      H
                    
                  
                  
                    
                      δ
                      r
                    
                  
                
              
              ]
            
            T
          
        
        ⁢
        
          

        
        ⁢
        
          A
          =
          
            [
            
              
                
                  
                    a
                    ⁢
                    
                      
                    
                    ⁢
                    11
                  
                
                
                  
                    a
                    ⁢
                    
                      
                    
                    ⁢
                    12
                  
                
              
              
                
                  
                    a
                    ⁢
                    
                      
                    
                    ⁢
                    21
                  
                
                
                  
                    a
                    ⁢
                    
                      
                    
                    ⁢
                    22
                  
                
              
            
            ]
          
        
        ⁢
        
          

        
        ⁢
        
          B
          =
          
            [
            
              
                
                  
                    b
                    ⁢
                    
                      
                    
                    ⁢
                    11
                  
                
                
                  
                    b
                    ⁢
                    
                      
                    
                    ⁢
                    12
                  
                
              
              
                
                  
                    b
                    ⁢
                    
                      
                    
                    ⁢
                    21
                  
                
                
                  
                    b
                    ⁢
                    
                      
                    
                    ⁢
                    22
                  
                
              
            
            ]
          
        
      
    
    
      
        (
        9
        )
      
    
  




    a11=−2·(Kf+Kr)/(m·V)
    a12=−1.0−2·(Lf·Kf−Lr·Kr)/(m·V2)
    a21=−2·(Lf·Kf−Lr·Kr)/Iz 
    a22=−2·(Lf2·Kf+Lr2·Kr)/(Iz·V)
    b11=2·Kf/(m·V·n)
    b12=2·Kr/(m·V)
    b21=2·Lf·Kf·/Iz 
    b22=−2·Lr·Kr/Iz 


In other words, a vehicle slip angle β is calculated by solving the aforementioned equation (9), and the calculated vehicle slip angle β is substituted into the aforementioned equation (7) to determine a front-wheel slip angle βf.
The front-wheel ground-load calculating portion 1c receives the engine torque Teg and the engine speed Ne from the engine control unit 14, and also receives the main transmission gear ratio i and the turbine speed Nt of the torque converter from the transmission control unit 15.
The front-wheel ground-load calculating portion 1c then calculates a front-wheel ground load Fzf from the following equation (10) and outputs the front-wheel ground load Fzf to the front-wheel longitudinal-force calculating portion 1d and the front-wheel friction-circle utilization-rate calculating portion 1f. 

Fzf=Wf−((m·Ax·h)/L)  (10)

In this case, Wf indicates a front-wheel static load, h indicates the height of the center of gravity, L indicates a wheel base, and Ax indicates longitudinal acceleration (=Fx/m). Fx in the arithmetic expression of the longitudinal acceleration Ax indicates a total driving force, and can be calculated from, for example, the following equation (11). The total driving force Fx is also output to the front-wheel longitudinal-force calculating portion 1d. 

Fx=Tt·η·if/Rt  (11)

In this case, η indicates a transmission efficiency of a driving system, if indicates a final gear ratio, and Rt indicates a tire radius. Furthermore, Tt indicates a transmission output torque, which can be calculated from, for example, the following equation (12). The transmission output torque Tt is also output to the front-wheel longitudinal-force calculating portion 1d. 

Tt=Teg·t·i  (12)

In this case, t indicates a torque ratio of the torque converter, which is determined by referring to a preliminarily set map that shows a relationship between a rotational speed ratio e (=Nt/Ne) of the torque converter and a torque ratio of the torque converter.

The front-wheel longitudinal-force calculating portion 1d receives the tightening torque TLSD of the limited-slip differential clutch from the transmission control unit 15, and also receives the front-wheel ground load Fzf, the total driving force Fx, and the transmission output torque Tt from the front-wheel ground-load calculating portion 1c. The front-wheel longitudinal-force calculating portion 1d then calculates a front-wheel longitudinal force Fxf in accordance with, for example, a procedure to be described hereinafter, and outputs the front-wheel longitudinal force Fxf to the front-wheel friction-circle utilization-rate calculating portion 1f. 
An example of the procedure for calculating a front-wheel longitudinal force Fxf will be described below.
First, a front-wheel load distribution ratio WR—f is calculated from the following equation (13):

WR—f=Fzf/W  (13)

where W indicates a vehicle weight (=m·G; G being gravitational acceleration).

Then, a minimum front-wheel longitudinal torque Tfmin and a maximum front-wheel longitudinal torque Tfmax are calculated from the following equations (14) and (15):

Tfmin=Tt·Rf—cd−TLSD(≧0)  (14)

Tfmax=Tt·Rf—cd+TLSD(≧0)  (15)

Subsequently, a minimum front-wheel longitudinal force Fxfmin and a maximum front-wheel longitudinal force Fxfmax are calculated from the following equations (16) and (17):

Fxfmin=Tfmin·η·if/Rt  (16)

Fxfmax=Tfmax·η·if/Rt  (17)

The conditions are determined in the following manner.
When WR—f≦Fxfmin/Fx, it is determined that limited-slip differential torque is increasing at the rear wheels, thereby setting a determination value I to 1.
When WR—f≧Fxfmax/Fx, it is determined that limited-slip differential torque is increasing at the front wheels, thereby setting a determination value I to 3.
In cases other than the above, a normal condition is confirmed, thereby setting a determination value I to 2.
In accordance with the determination value I, a front-wheel longitudinal force Fxf is calculated as follows:
When I=1:

Fxf=Tfmin·η·if/Rt  (18)

When I=2:

Fxf=Fx·WR—f  (19)

When I=3:

Fxf=Fxfmax·η·if/Rt  (20)

The front-wheel lateral-force calculating portion 1e receives the yaw rate γ from the yaw-rate sensor 13 and the lateral acceleration (d2y/dt2) from the lateral acceleration sensor 16. The front-wheel lateral-force calculating portion 1e then calculates a front-wheel lateral force Fyf from the following equation (21) and outputs the front-wheel lateral force Fyf to the front-wheel friction-circle utilization-rate calculating portion 1f. 

Fyf=(Iz·(dγ/dt)+m·(d2y/dt2)·Lr)/L  (21)

In other words, in this embodiment, the front-wheel ground-load calculating portion 1c, the front-wheel longitudinal-force calculating portion 1d, and the front-wheel lateral-force calculating portion 1e are provided as a tire-force estimating portion in road-surface friction-coefficient estimating unit.
The front-wheel friction-circle utilization-rate calculating portion 1f receives the front-wheel ground load Fzf from the front-wheel ground-load calculating portion 1c, the front-wheel longitudinal force Fxf from the front-wheel longitudinal-force calculating portion 1d, and the front-wheel lateral force Fyf from the front-wheel lateral-force calculating portion 1e. The front-wheel friction-circle utilization-rate calculating portion 1f then calculates a front-wheel friction-circle utilization rate rf from the following equation (22), and outputs the front-wheel friction-circle utilization rate rf to the road-surface friction-coefficient estimating portion 1j. In other words, the front-wheel friction-circle utilization-rate calculating portion 1f is provided as a friction-circle utilization-rate calculating portion in the road-surface friction-coefficient estimating unit.

rf=(Fxf2+Fyf2)1/2/Fzf  (22)

The presumptive rack-thrust-force calculating portion 1g receives the steering-wheel angle θH from the steering-wheel-angle sensor 12, the driver steering force Fd from the steering-torque sensor 17, and the electric-power-steering assist force FEPS from the electric power steering motor 18. The presumptive rack-thrust-force calculating portion 1g then calculates a presumptive rack thrust force FE from the following equation (23) and outputs the presumptive rack thrust force FE to the rack-thrust-force deviation calculating portion 1i. In other words, the presumptive rack-thrust-force calculating portion 1g is provided as a presumptive rack-thrust-force estimating portion in the road-surface friction-coefficient estimating unit.

FE=Fd+FEPS−FFRI  (23)

In this case, FFRI indicates a force generated as a result of, for example, friction in a steering system, and is set by referring to, for example, a preliminarily set map. An example of this map is shown in FIG. 3. In this example, FFRI is obtained from steering-angle versus steering-torque characteristics and is determined using a hysteresis function based on a steering angle and a steering-angle rate. Alternatively, FFRI can be determined with higher accuracy by switching the characteristic map shown in FIG. 3 to a map created in view of a value such as the lateral acceleration (d2y/dt2) or the driver steering force Fd (specifically, by changing the characteristics in the map shown in FIG. 3 to characteristics in which the hysteresis gap between the increasing side and the decreasing side becomes wider as the lateral acceleration (d2y/dt2) or the driver steering force Fd increases). By taking into consideration the force FFRI in this manner, a presumptive rack thrust force FE can be accurately calculated not only for when the steering wheel is being turned, but also for when the steering wheel is being returned to its initial position. Accordingly, this allows for estimation of a road-surface friction coefficient μ over a broad range.

The reference rack-thrust-force calculating portion 1h receives the front-wheel slip angle βf of from the front-wheel slip-angle calculating portion 1b. The reference rack-thrust-force calculating portion 1h then calculates a reference rack thrust force FR from the following equation (24) and outputs the reference rack thrust force FR to the rack-thrust-force deviation calculating portion 1i. In other words, the reference rack-thrust-force calculating portion 1h is provided as a reference rack-thrust-force estimating portion in the road-surface friction-coefficient estimating unit.

FR=−2·Kf·((ζc+ζn)Ln)·βf  (24)

In this case, ζc indicates a caster trail, ζn indicates a pneumatic trail, and Ln indicates a knuckle arm length.

The rack-thrust-force deviation calculating portion 1i receives the presumptive rack thrust force FE from the presumptive rack-thrust-force calculating portion 1g and the reference rack thrust force FR from the reference rack-thrust-force calculating portion 1h. The rack-thrust-force deviation calculating portion 1i then calculates a rack-thrust-force deviation value ΔFR from the following equation (25) and outputs the rack-thrust-force deviation value ΔFR to the road-surface friction-coefficient estimating portion 1j. 

ΔFR=|FE−FR|  (25)

The road-surface friction-coefficient estimating portion 1j is provided as a road-surface friction-coefficient estimating portion in the road-surface friction-coefficient estimating unit and as restoring-speed setting unit. The road-surface friction-coefficient estimating portion 1j receives the vehicle speed V from the vehicle-speed calculating portion 1a, the front-wheel slip angle βf from the front-wheel slip-angle calculating portion 1b, and the front-wheel friction-circle utilization rate rf from the front-wheel friction-circle utilization-rate calculating portion 1f, and also receives the rack-thrust-force deviation value ΔFR from the rack-thrust-force deviation calculating portion 1i. 
The road-surface friction-coefficient estimating portion 1j then compares the rack-thrust-force deviation value ΔFR with a preliminarily set maximum-value-determination threshold value μmaxa. If the rack-thrust-force deviation value ΔFR is above or equal to the maximum-value-determination threshold value μmaxa, the road-surface friction-coefficient estimating portion 1j determines that the tires are slipping, and sets the front-wheel friction-circle utilization rate rf in that state as a road-surface friction coefficient μ. If the rack-thrust-force deviation value ΔFR is below the maximum-value-determination threshold value μmaxa, the road-surface friction-coefficient estimating portion 1j refers to a preliminarily set map (an example of which is shown in FIG. 4) in order to determine a restoring speed Vμ at which a road-surface friction coefficient μ is to be restored to a preliminarily set value (such as 1.0) based on the vehicle speed V and the front-wheel slip angle βf. While restoring the road-surface friction coefficient at the restoring speed Vμ, the road-surface friction-coefficient estimating portion 1j calculates and outputs the road-surface friction coefficient μ.
The maximum-value-determination threshold value μmaxa may be set to a large value in accordance with an absolute value of the lateral acceleration (d2y/dt2).
Referring to FIG. 4, the map for determining the restoring speed Vμ has characteristics in which the restoring speed Vμ decreases as the vehicle speed V increases and also as the front-wheel slip angle βf becomes higher.
If the vehicle is a two-wheel-drive model, a steering-stability capacity ωn·ζ that determines the steering stability of the vehicle can be determined from the following equation (26). It can be said that the vehicle convergence becomes higher with increasing steering-stability capacity ωn·ζ.

ωn·ζ=(a11+a22)/2  (26)

Here, both a11 and a22 have been described above in the equation (9). It is known that the all term contributes to the convergence of the vehicle slip angle. The more this term changes linearly, the higher the vehicle stability becomes and the more the responsiveness accords with the driver's operational feel. On the other hand, the a22 term corresponds to a system matrix element that has an effect on yaw convergence, and becomes a negative feedback gain of a yaw rate.

Considering the nonlinearity of the tires simply as quadratic equations, the a11 and a22 terms can be expressed with the following equations (27) and (28):




  
    
      
        
          a
          ⁢
          
            
          
          ⁢
          11
        
        =
        
          
            (
            
              1
              /
              
                (
                
                  m
                  ·
                  V
                
                )
              
            
            )
          
          ·
          
            (
            
              
                2
                ·
                
                  (
                  
                    
                      K
                      f
                    
                    +
                    
                      K
                      r
                    
                  
                  )
                
              
              -
              
                (
                
                  (
                  
                    
                      
                        
                          K
                          f
                          2
                        
                        /
                        
                          
                            (
                            
                              
                                
                                  μ
                                  2
                                
                                ·
                                
                                  F
                                  zf
                                  2
                                
                              
                              -
                              
                                F
                                xf
                                2
                              
                            
                            )
                          
                          
                            1
                            /
                            2
                          
                        
                      
                      ·
                      
                        
                        
                          β
                          f
                        
                        
                      
                    
                    +
                    
                      (
                      
                        
                          
                            K
                            r
                            2
                          
                          /
                          
                            
                              (
                              
                                
                                  
                                    μ
                                    2
                                  
                                  ·
                                  
                                    F
                                    zr
                                    2
                                  
                                
                                -
                                
                                  F
                                  xr
                                  2
                                
                              
                              )
                            
                            
                              1
                              /
                              2
                            
                          
                        
                        ·
                        
                          
                          
                            β
                            r
                          
                          
                        
                      
                      )
                    
                  
                  )
                
              
            
          
        
      
    
    
      
        (
        27
        )
      
    
  
  
    
      
        
          a
          ⁢
          
            
          
          ⁢
          22
        
        =
        
          
            (
            
              1
              /
              
                (
                
                  
                    I
                    z
                  
                  ·
                  V
                
                )
              
            
            )
          
          ·
          
            (
            
              
                2
                ·
                
                  (
                  
                    
                      
                        L
                        f
                        2
                      
                      ·
                      
                        K
                        f
                      
                    
                    +
                    
                      
                        L
                        r
                        2
                      
                      ·
                      
                        K
                        r
                      
                    
                  
                  )
                
              
              -
              
                (
                
                  (
                  
                    
                      
                        L
                        f
                        2
                      
                      ·
                      
                        
                          K
                          f
                          2
                        
                        /
                        
                          
                            (
                            
                              
                                
                                  μ
                                  2
                                
                                ·
                                
                                  F
                                  zf
                                  2
                                
                              
                              -
                              
                                F
                                xf
                                2
                              
                            
                            )
                          
                          
                            1
                            /
                            2
                          
                        
                      
                      ·
                      
                        
                        
                          β
                          f
                        
                        
                      
                    
                    +
                    
                      (
                      
                        
                          L
                          r
                          2
                        
                        ·
                        
                          
                            K
                            r
                            2
                          
                          /
                          
                            
                              (
                              
                                
                                  
                                    μ
                                    2
                                  
                                  ·
                                  
                                    F
                                    zr
                                    2
                                  
                                
                                -
                                
                                  F
                                  xr
                                  2
                                
                              
                              )
                            
                            
                              1
                              /
                              2
                            
                          
                        
                        ·
                        
                          
                          
                            β
                            r
                          
                          
                        
                      
                      )
                    
                  
                  )
                
              
            
          
        
      
    
    
      
        (
        28
        )
      
    
  




where Fzr indicates a rear-wheel ground load, and Fxr indicates a rear-wheel longitudinal force.

As is apparent from the aforementioned equations (27) and (28), the a11 term and the a22 term both decrease with increasing vehicle speed V, which means that the steering-stability capacity ωn·ζ decreases with increasing vehicle speed V (see FIG. 5A). In view of this, the characteristics are set such that the restoring speed Vμ decreases as the vehicle speed V becomes higher, so as to minimize drastic changes.
Likewise, it is apparent from the aforementioned equations (27) and (28) that the a11 and a22 terms decrease as the front-wheel slip angle βf becomes higher, which means that the steering-stability capacity ωn·ζ decreases with increasing front-wheel slip angle βf (see FIG. 5B). In view of this, the characteristics are set such that the restoring speed Vμ decreases as the front-wheel slip angle βf becomes higher, so as to minimize drastic changes.
Although the restoring speed Vμ is set using the front-wheel slip angle βf in this embodiment, the restoring speed Vμ may alternatively be set using a rear-wheel slip angle βr, as is apparent from the aforementioned equations (27) and (28).
The road-surface friction-coefficient estimating program performed by the road-surface friction-coefficient estimating device 1 will now be described with reference to the flow chart in FIG. 2.
First, in step S101, required parameters are read, which include wheel speeds ωfl, ωfr, ωrl, and ωrr of the four individual wheels, a steering-wheel angle θH, a yaw rate γ, an engine torque Teg, an engine speed Ne, a main transmission gear ratio i, a turbine speed Nt of a torque converter, a tightening torque TLSD of a limited-slip differential clutch, a lateral acceleration (d2y/dt2), a driver steering force Fd, and an assist force FEPS by electric power steering.
In step S102, the vehicle-speed calculating portion 1a calculates an average of the wheel speeds ωfl, ωfr, ωrl, and ωrr in order to determine a vehicle speed V.
In step S103, the front-wheel slip-angle calculating portion 1b solves the aforementioned equation (9) to determine a vehicle slip angle β, and substitutes the vehicle slip angle β into the aforementioned equation (7) to determine a front-wheel slip angle βf.
In step S104, the front-wheel ground-load calculating portion 1c calculates a front-wheel ground load Fzf from the aforementioned equation (10).
In step S105, the front-wheel longitudinal-force calculating portion 1d calculates a front-wheel longitudinal force Fxf from any one of the aforementioned equations (18) to (20).
In step S106, the front-wheel lateral-force calculating portion 1e calculates a front-wheel lateral force Fyf from the aforementioned equation (21).
In step S107, the front-wheel friction-circle utilization-rate calculating portion 1f calculates a front-wheel friction-circle utilization rate rf from the aforementioned equation (22).
In step S108, the presumptive rack-thrust-force calculating portion 1g calculates a presumptive rack thrust force FE from the aforementioned equation (23).
In step S109, the reference rack-thrust-force calculating portion 1h calculates a reference rack thrust force FR from the aforementioned equation (24).
In step S110, the rack-thrust-force deviation calculating portion 1i calculates a rack-thrust-force deviation value ΔFR from the aforementioned equation (25).
Steps S111 onward are performed by the road-surface friction-coefficient estimating portion 1j. First, in step S111, the road-surface friction-coefficient estimating portion 1j compares the rack-thrust-force deviation value ΔFR with a maximum-value-determination threshold value μmaxa. If the rack-thrust-force deviation value ΔFR is above or equal to the maximum-value-determination threshold value μmaxa (ΔFR≧μmaxa), the road-surface friction-coefficient estimating portion 1j determines that the tires are slipping. In that case, the operation proceeds to step S112 where the road-surface friction-coefficient estimating portion 1j sets the front-wheel friction-circle utilization rate rf in that state as a road-surface friction coefficient μ.
In contrast, if ΔFR<μmaxa, the operation proceeds to step S113 where the road-surface friction-coefficient estimating portion 1j refers to a preliminarily set map (the example of which is shown in FIG. 4) in order to determine a restoring speed Vμ at which a road-surface friction coefficient μ is to be restored to a preliminarily set value (such as 1.0) based on the vehicle speed V and the front-wheel slip angle βf. In step S114, while restoring the road-surface friction coefficient to the preliminarily set value (such as 1.0) at the restoring speed Vμ, the road-surface friction-coefficient estimating portion 1j calculates a road-surface friction coefficient μ.
After the road-surface friction coefficient μ is set in step S112 or S114, the operation proceeds to step S115 where the road-surface friction-coefficient estimating portion 1j outputs the road-surface friction coefficient μ. Finally, this exits the program.
An example of road-surface friction-coefficient estimation will be described below with reference to the timing diagram in FIG. 6.
A state of ΔFR<μmaxa is maintained up to time t1. In this state, the road-surface friction coefficient μ is stably set at 1.0.
The aforementioned state changes to a state of ΔFR≧μmaxa in a period between time t1 and time t2. In this state, it is determined that the tires are slipping, and the front-wheel friction-circle utilization rate rf in this state is set as a road-surface friction coefficient μ.
Subsequently, the state of ΔFR<μmaxa is recovered in a period between time t2 and time t3, and as the road-surface friction coefficient is restored to 1.0 at the restoring speed Vμ, a road-surface friction coefficient μ is set.
As described above, in this embodiment, the rack-thrust-force deviation value ΔFR and the preliminarily set maximum-value-determination threshold value μmaxa are compared with each other. When the rack-thrust-force deviation value ΔFR is above or equal to the maximum-value-determination threshold value μmaxa, it is determined that the tires are slipping, and the front-wheel friction-circle utilization rate rf in that state is set as a road-surface friction coefficient μ. On the other hand, when the rack-thrust-force deviation value ΔFR is below the maximum-value-determination threshold value μmaxa, a restoring speed Vμ at which a road-surface friction coefficient μ is to be restored to a preliminarily set value (such as 1.0) based on the vehicle speed V and the front-wheel slip angle βf is determined by referring to a preliminarily set map. While the road-surface friction coefficient is restored at the restoring speed V, a road-surface friction coefficient μ is calculated and output. Consequently, in a case where it is determined that the tires are slipping, the road-surface friction coefficient μ is appropriately set to a low value in accordance with the front-wheel friction-circle utilization rate rf in that state. In cases other than the above, a road-surface friction coefficient μ is set while the road-surface friction coefficient is restored to 1.0, so that the road-surface friction coefficient μ can be appropriately set without being maintained at a low value. Accordingly, even if estimation of a road-surface friction coefficient is difficult, an appropriate road-surface friction coefficient can be set, whereby the potential that vehicle behavior control has can be exhibited to a maximum extent.
Furthermore, since a restoring speed at which a road-surface friction coefficient is to be restored to 1.0 is adjustable in accordance with the vehicle speed V and the front-wheel slip angle βf in view of steering-stability capacity ωn·ζ related to the convergence of vehicle behavior, a road-surface friction coefficient μ can be set naturally and smoothly while the vehicle stability is maintained at high level.
In the above embodiment of the present invention, estimation of a road-surface friction coefficient is implemented by restoring the road-surface friction coefficient to a front-wheel friction-circle utilization rate rf or a preliminarily set value (such as 1.0) based on the deviation ΔFR relationship between the presumptive rack thrust force FE and the reference rack thrust force FR. It is needless to say that this estimation according to the above embodiment of the present invention can be applied to other road-surface friction-coefficient estimating devices. For example, with regard to a technology for estimating a road-surface friction coefficient from, for example, a steering angle, a vehicle speed, and a yaw rate using an adaptive control theory proposed by the present applicant in Japanese Unexamined Patent Application Publication No. 8-2274, if a condition where road-surface friction-coefficient estimation is not possible (such as when the steering angle is 0°) is detected, a restoring speed Vμ at which a road-surface friction coefficient μ is to be restored to a preliminarily set value (such as 1.0) based on the vehicle speed V and the front-wheel slip angle βf may be determined by referring to a preliminarily set map. Subsequently, while the road-surface friction coefficient is restored at the restoring speed Vμ, a road-surface friction coefficient μ may be calculated and output. Similarly, the estimation according to the above embodiment of the present invention can be applied to other estimating methods, such as the one disclosed in Japanese Unexamined Patent Application Publication No. 2000-71968 by the present applicant in which a road-surface friction coefficient is estimated by using an observer.

## Claims

1. A road-surface friction-coefficient estimating device for a vehicle, for estimating a friction coefficient of a road surface on which the vehicle is traveling, comprising:
a vehicle-speed detecting unit configured to detect a vehicle speed;
a vehicle-wheel slip-angle detecting unit configured to detect a slip angle of a wheel;
a restoring-speed setting unit configured to set a restoring speed at which a road-surface friction coefficient is to be restored to a preliminarily set value based on the vehicle speed and the slip angle of the wheel; and
a road-surface friction-coefficient estimating unit configured to estimate the road-surface friction coefficient by allowing a previously estimated value of the road-surface friction coefficient to be restored to the set value at the restoring speed, wherein the road-surface friction-coefficient estimating unit includes:
a presumptive rack-thrust-force estimating portion configured to estimate a presumptive rack thrust force presumably being generated in actuality;
a reference rack-thrust-force estimating portion configured to estimate a reference rack thrust force expected to be generated;
a tire-force estimating portion configured to estimate a tire force acting on the wheel; a friction-circle utilization-rate calculating portion configured to calculate a friction-circle utilization rate on the basis of the tire force; and
a road-surface friction-coefficient estimating portion configured to set the friction-circle utilization rate as the road-surface friction coefficient when an absolute value of deviation between the presumptive rack thrust force and the reference rack thrust force is above a preliminarily set threshold value, and to estimate the road-surface friction coefficient by allowing a previously estimated value of the road-surface friction coefficient to be restored to the set value at the restoring speed when the absolute value of deviation is below the threshold value.

2. The road-surface friction-coefficient estimating device according to claim 1, wherein the restoring speed decreases as the vehicle speed increases.

3. The road-surface friction-coefficient estimating device according to claim 1, wherein the restoring speed decreases as the slip angle of the wheel becomes higher.

4. The road-surface friction-coefficient estimating device according to claim 1, wherein the preliminarily set value is 1.0.

5. The road-surface friction-coefficient estimating device according to claim 1, wherein the preliminarily set threshold value is adjusted in value in accordance with an absolute value of a lateral acceleration of the vehicle.

6. A road-surface friction-coefficient estimating device for a vehicle, for estimating a friction coefficient of a road surface on which the vehicle is traveling, comprising:
a vehicle speed detecting unit configured to detect a vehicle speed;
a vehicle wheel slip angle detecting unit configured to detect a slip angle of a wheel;
a change rate setting unit configured to set a change rate of a road-surface friction coefficient based on the vehicle speed and the slip angle of the wheel; and
a road-surface friction-coefficient estimating unit configured to estimate the road-surface friction coefficient by increasing a previously estimated value of the road-surface friction coefficient at the change rate to provide for restoration of the estimated road-surface friction coefficient to a preliminary set estimated road-surface friction coefficient value, wherein the road-surface friction-coefficient estimating unit includes;
a presumptive rack-thrust-force estimating portion configured to estimate a presumptive rack thrust force presumably being generated in actuality;
a reference rack-thrust-force estimating portion configured to estimate a reference rack thrust force expected to be generated;
a tire-force estimating portion configured to estimate a tire force acting on the wheel; a friction-circle utilization-rate calculating portion configured to calculate a friction-circle utilization rate on the basis of the tire force; and
wherein the road-surface friction-coefficient estimating unit is configured to set the friction-circle utilization rate as the road-surface friction coefficient when an absolute value of deviation between the presumptive rack thrust force and the reference rack thrust force is above a preliminarily set threshold value, and to estimate the road-surface friction coefficient by allowing a previously estimated value of the road-surface friction coefficient to be restored by way of the change rate determined to the preliminary set estimated road surface friction coefficient value when the absolute value of deviation is below the threshold value, and wherein the presumptive rack-thrust-force estimating portion is configured to estimate a presumptive rack thrust force presumably being generated in actuality both during a turning of a steering wheel from an initial steering wheel setting and during an hysteresis return of the steering wheel toward the initial steering wheel setting.

7. The road surface friction-coefficient estimating device of claim 1 wherein said vehicle-speed detecting unit comprises a vehicle speed sensor.

8. The road surface friction-coefficient estimating device of claim 6 wherein said vehicle-speed detecting unit comprises a vehicle speed sensor.

9. A vehicle, comprising:
the road-surface friction-coefficient estimating device of claim 1; and
a plurality of wheels, and
wherein said vehicle-speed detecting unit comprises wheel speed sensors.

10. A vehicle, comprising:
the road-surface friction-coefficient estimating device of claim 6; and
a plurality of wheels, and
wherein said vehicle-speed detecting unit comprises wheel speed sensors.

11. A road-surface friction-coefficient estimating device, comprising:
a vehicle-speed detecting unit configured to detect a vehicle speed;
a vehicle-wheel slip-angle detecting unit configured to detect a slip angle of a wheel;
a restoring-speed setting unit configured to set a restoring speed at which a road-surface friction coefficient is to be restored to a preliminarily set value based on the vehicle speed and the slip angle of the wheel;
a road-surface friction-coefficient estimating unit configured to estimate the road-surface friction coefficient by allowing a previously estimated value of the road-surface friction coefficient to be restored to the set value at the restoring speed; and
a vehicle control unit which is in communication with said road surface friction-coefficient estimating unit and receives said road-surface friction coefficient upon output by said road-surface friction-coefficient estimating unit, wherein the road-surface friction-coefficient estimating unit includes:
a presumptive rack-thrust-force estimating portion configured to estimate a presumptive rack thrust force presumably being generated in actuality;
a reference rack-thrust-force estimating portion configured to estimate a reference rack thrust force expected to be generated;
a tire-force estimating portion configured to estimate a tire force acting on the wheel;
a friction-circle utilization-rate calculating portion configured to calculate a friction-circle utilization rate on the basis of the tire force; and
wherein the road-surface friction-coefficient estimating unit is configured to set the friction-circle utilization rate as the road-surface friction coefficient when an absolute value of deviation between the presumptive rack thrust force and the reference rack thrust force is above a preliminarily set threshold value, and to estimate the road-surface friction coefficient by allowing a previously estimated value of the road-surface friction coefficient to be restored to the set value at the restoring speed when the absolute value of deviation is below the threshold value, and wherein the presumptive rack-thrust-force estimating portion is configured to estimate a presumptive rack thrust force presumably being generated in actuality both during a turning of a steering wheel from an initial steering wheel setting and during an hysteresis return of the steering wheel toward the initial steering wheel setting.

12. The road-surface friction-coefficient estimating device of claim 11 wherein the vehicle control unit is a torque distribution control unit.

13. The road-surface friction-coefficient estimating device of claim 1 wherein the restoring-speed setting unit has accessible reference information for use in determining the restoration speed to be set, and which reference information is configured as to have the restoring speed decrease as the vehicle speed increases and to have the restoring speed decrease as the slip angle increases.

14. The road-surface friction-coefficient estimating device of claim 13 wherein the accessible reference information includes a stored data map of information.

15. The road-surface friction-coefficient estimating device of claim 6 wherein the change rate setting unit has accessible reference information for use in determining the change rate to be set, and which reference information is configured as to have the change rate decrease as the vehicle speed increases and to have the change rate decrease as the slip angle increases.

16. The road-surface friction-coefficient estimating device of claim 11 wherein the restoring-speed setting unit has accessible reference information for use in determining the restoration speed to be set, and which reference information is configured as to have the restoring speed decrease as the vehicle speed increases and to have the restoring speed decrease as the slip angle increases.

17. The road-surface friction-coefficient estimating device of claim 1 wherein the presumptive rack-thrust-force estimating portion is configured to estimate a presumptive rack thrust force presumably being generated in actuality both during a turning of a steering wheel from an initial steering wheel setting and during a hysteresis return of the steering wheel toward the initial steering wheel setting.