Method and system for road surface friction coefficient estimation
The present invention relates to active chassis systems and a method, a system and a computer program product for road to wheel friction estimation (RFE). More specifically, the present invention relates to a method, a system and computer program product for estimating, with especially high accuracy, the road surface friction coefficient (μ). Said method comprises the steps of: continuously estimating a road surface friction coefficient (μ), using an algorithm based on a dynamic model of the vehicle, determining a road surface friction coefficient range based on specific transient or static vehicle driving parameters, and reinitiating said algorithm so that the estimated road surface friction coefficient (μ) is adapted to said determined road surface friction coefficient range. Said system comprises means for performing the steps of said method. Said computer program product comprises code for execution of the steps of said method.
1 . A method for estimating road surface friction between a road surface and a tire of a vehicle, comprising the steps of:
continuously estimating a road surface friction coefficient (μ), using an algorithm based on a dynamic model of the vehicle,
determining a road surface friction coefficient range based on specific transient or static vehicle driving parameters, and
reinitiating said algorithm so that the estimated road surface friction coefficient (μ) is adapted to said determined road surface friction coefficient range.
2 . A method according to claim 1 , wherein if the continuously estimated road surface friction coefficient (μ) is higher than an upper boundary value of said road surface friction coefficient range, said algorithm is reinitiated so that said road surface friction coefficient (μ) is adapted downwards.
3 . A method according to claim 1 , wherein if the continuously estimated road surface friction coefficient (μ) is lower than a lower boundary value of said road surface friction coefficient range, said algorithm is reinitiated so that said road surface friction coefficient (μ) is adapted upwards.
4 . A method according to claim 1 , wherein said algorithm is reinitiated so that said road surface friction coefficient (μ) is adapted to fall within said road surface friction coefficient range.
5 . A method according to claim 1 , wherein the step of determining a road surface friction coefficient range further comprises the steps of:
measuring a self aligning torque, and
calculating road surface friction coefficient range based on said measured self aligning torque.
6 . A method according to claim 1 , wherein the step of determining a road surface friction coefficient range further comprises the steps of:
measuring at least one of a lateral and longitudinal vehicle acceleration, and
calculating said road surface friction coefficient range based on said measured vehicle acceleration.
7 . A method according claim 1 , wherein values of said specific vehicle driving parameters are dependent on at least one of internally derived circumstances and externally derived circumstances.
8 . A system for estimating road surface friction between a road surface and a tire of a vehicle, said system comprising:
means for continuously estimating a road surface friction coefficient (μ), using an algorithm based on a dynamic model of the vehicle,
means for determining a road surface friction coefficient range based on specific transient or static vehicle driving parameters, and
means for reinitiating said algorithm so that the estimated road surface friction coefficient (μ) is adapted to said determined road surface friction coefficient range.
9 . A system according to claim 8 , further comprising:
if the continuously estimated road surface friction coefficient (μ) is higher than an upper boundary value of said road surface friction coefficient range, means for reinitiating said algorithm so that said road surface friction coefficient (μ) is adapted downwards.
10 . A system according to claim 8 , further comprising:
if the estimated road surface friction coefficient (μ) is lower than a lower boundary value of said road surface friction coefficient range, means for reinitiating said algorithm so that said road surface friction coefficient (μ) is adapted upwards.
11 . A system according to claim 8 , further comprising:
means for reinitiating said algorithm so that said road surface friction coefficient (μ) is adapted to fall within said road surface friction coefficient range.
12 . A system according to claim 8 , further comprising:
means for measuring a self aligning torque, and
means for calculating road surface friction coefficient range based on said measured self aligning torque.
13 . A system according to claim 8 , further comprising:
means for measuring at least one of a lateral and longitudinal vehicle acceleration, and
means for calculating said road surface friction coefficient range based on said measured vehicle acceleration.
14 . Computer program product for estimating road surface friction between a road surface and a tire of a vehicle, comprising code for execution of the steps according to claim 1 .
15 . Computer program product according to claim 14 , stored on a computer readable medium.
16 . Computer program product according to claim 14 , wherein said computer readable medium is an electronic control unit (ECU).