The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 20, 2012
Filed:
Feb. 11, 2010
Toru Takenaka, Wako, JP;
Hiroyuki Urabe, Wako, JP;
Osamu Yano, Tochigi, JP;
Yoshihiro Mori, Wako, JP;
Tomoya Ushimura, Wako, JP;
Toru Takenaka, Wako, JP;
Hiroyuki Urabe, Wako, JP;
Osamu Yano, Tochigi, JP;
Yoshihiro Mori, Wako, JP;
Tomoya Ushimura, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.