Continental Automotive Gmbh

Celine Gamulescu

Andreas Mayer

Ning Bian

Jens Fiedler

Thomas Schweiger

In a method for determining a roadway state (STATE) of a roadway on which a vehicle () is travelling which has at least one wheel () and an acceleration sensor () which is assigned to the wheel (), in order to determine a vertical component of an acceleration of the wheel (), a characteristic value which is representative of the roadway state (STATE) is determined as a function of a measured signal (AC_VERT) of the acceleration sensor ().

Method for determining a roadway state

A friction coefficient between at least one tire of a motor vehicle and a roadway is estimated recursively. A kingpin inclination angle is detected or measured. A model determines a lateral friction value by defining a functional correlation between that value and the angle such that a non-linear course of that value relative to the angle is dependant on an initial increase of that value relative to the angle and on a recursively determined estimated value of the friction coefficient. The initial increase is defined substantially independently from the recursively determined estimated value. In addition, a measurement variable of the driving dynamics is captured. Depending on the lateral friction value, the driving dynamics model variable is determined. Furthermore, a variance between the driving dynamics measurement variable and the driving dynamics model value is determined. The recursion when acquiring the estimated value includes that the estimated value is adjusted.

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Wuppertal, Germany

Celine Gamulescu