Patent ID: 8068967

Claim:
A method of determining that a roadway is inhomogeneous in a driving situation of a vehicle disposed on a roadway having a different coefficient of friction (split μ) on a left side than on a right side, with a high-coefficient-of-friction side (HM) and a low-coefficient-of-friction side (LM), with one low-coefficient-of-friction front wheel and one high-coefficient-of-friction front wheel, during active anti-lock brake control by an anti-lock brake system (ABS) and active yaw torque control (YTC) of the high coefficient-of-friction front wheel, the method comprising the steps of: filtering a rotational acceleration to determine the high-coefficient-of-friction front wheel; verifying that at least the following conditions are satisfied to detect the roadway: a) the low-coefficient-of-friction front wheel (LM wheel) undergoes anti-lock brake control in a pressure reduction phase and is in a first ABS control cycle; b) the low-coefficient-of-friction front wheel exhibits a rotational deceleration exceeding a defined threshold; c) the low-coefficient-of-friction front wheel locks at a brake pressure level that is lower than a defined threshold; d) the high-coefficient-of-friction front wheel (HM wheel) exhibits a filtered rotational deceleration that is lower than a defined threshold; and e) a longitudinal vehicle deceleration calculated by the anti-lock brake system is lower than a defined threshold; and generating output information representing that the roadway is inhomogeneous based on the conditions being satisfied.