路面状態の判定装置、方法及びプログラム

Japanese Patent JP7103010

B2

To correctly determine the state of a road surface on which vehicles drive.SOLUTION: A determination device calculates sequentially a first comparison value of the rotational speed of a first tire and that of a third tire, and a second comparison value of the rotational speed of a second tire and that of a fourth tire. The drive powers higher than those of the third and fourth tires are applied to the first and second tires. The determination device acquires wheel torque sequentially, and specifies a first relation of the wheel torque with the first comparison value and a second relation of the wheel torque with the second comparison value. Besides, the device applies the wheel torque at a certain time to the first relation to calculate a first estimation value of the first comparison value at the above time, and applies the wheel torque at the above time to the second relation to calculate a second estimation value of the second comparison value at the above time. Then, the device calculates a first deviation amount between the first comparison and estimation values, and a second deviation amount between the second comparison and estimation values to determine the state of a road surface in response to the difference between the above both deviation amounts.SELECTED DRAWING: Figure 3

WO/2019/202397	VEHICLE ENVIRONMENT MODELING WITH A CAMERA
WO/2024/071300	DRIVING ASSISTANCE DEVICE
JP2010125984	ROAD SURFACE CONDITION DETECTION DEVICE AND ROAD SURFACE CONDITION MONITORING SYSTEM

Takuya Matsuda
Keiichi Murakami

JP2018136179A

July 20, 2022

July 19, 2018

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Sumitomo Rubber Industries, Ltd.

B60W40/06; B60C19/00; G01L17/00

JP9104209A
JP2003118555A
JP2007320401A

Kenji Tachibana
Michiko Yamashita

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