Patent ID: 8914213

Claim:
A non-transitory computer-readable storage media comprising stored programming configured for processing by a processor, the programming, when executed by a processor, comprising instructions to: receive vehicle parameters derived from data collected by sensors on a driveline of a vehicle, the vehicle parameters comprising at least a vehicle speed V x , a steer angle δ, a yaw rate r, and a lateral acceleration a y ; calculate a lookup value based on the detected vehicle parameters, the calculating comprising a recursive least square estimation; retrieve a road surface friction coefficient from a lookup table by matching the calculated lookup value to the road surface friction coefficient stored in the lookup table; calculate adjustments to the vehicle using the road surface friction coefficient; and output the adjustments to a vehicle control system for execution, wherein the recursive least square estimation is enabled only when the following enabling criteria are met: V x,MIN ≦V x ≦V x,MAX , δ MIN ≦δ≦δ MAX , r MIN ≦r≦r MAX , and a y,MIN ≦a y ≦a y,MAX , in which V xMIN , and V x,max are predetermined minimum and maximum values of the vehicle speed, δ MIN and δ MAX are predetermined minimum and maximum values for the steer angle, r MIN and r MAX are predetermined minimum and maximum values of the yaw rate, and a y,MIN and a y,MAX are predetermined minimum and maximum values of the lateral acceleration.