To estimatingly compute friction coefficient of a road surface during running even if a vehicle is not in the driving condition or the braking condition by computing the road surface friction coefficient of front wheels by a specific expression out of the angle of side slip of a vehicle computed by a specific expression, lateral force of front wheels, and the angle of side slip of the front wheels.
The accleration (g) in the lateral direction of a vehicle, the vehicle speed, and the yaw rate ω are measured, and the angle of side slip βis computed by an expression dβ/dt=(g/V)-ω. The lateral force generated in the front wheel is computed out of inertia moment I around the gravity center axis of the vehicle, the lateral force Ff of the front wheel, the distance from the gravity center to a front axle or a rear axle Lf, Lr, the lateral force Fr of the rear wheel, and the mass (m) of the vehicle by a formula Ff=(I (dω/ dt)+mgLr)/2(Lf+Lr). The net angle of side slip of the front wheel at steering with a steering angle δ is computed by an expression βF=β+(Lf/V)ω-δ. The road surface friction coefficient μ is computed by an expression μ=Ff/(Kf.βf) where the constant of cornering power is set as Kf.
| JP2018040688 | METHOD OF EVALUATING PALATABILITY OF FACIAL LOTION |
| WO/2002/097401 | BOTTLE FRICTION ANALYSIS SYSTEM |
KITAZAWA KEIICHI
TSUMAGARI ICHIRO
MOMIYAMA FUJIO
OKUYAMA HIROKAZU
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