| 主权项 |
1. A non-transitory computer-readable storage media comprising stored programming configured for processing by a processor, the programming, when executed by a processor, comprising instructions to:
receive vehicle parameters derived from data collected by sensors on a driveline of a vehicle, the vehicle parameters comprising at least a vehicle speed Vx, a steer angle δ, a yaw rate r, and a lateral acceleration ay; calculate a lookup value based on the detected vehicle parameters, the calculating comprising a recursive least square estimation; retrieve a road surface friction coefficient from a lookup table by matching the calculated lookup value to the road surface friction coefficient stored in the lookup table; calculate adjustments to the vehicle using the road surface friction coefficient; and output the adjustments to a vehicle control system for execution, wherein the recursive least square estimation is enabled only when the following enabling criteria are met:
Vx,MIN≦Vx≦Vx,MAX,δMIN≦δ≦δMAX,rMIN≦r≦rMAX, anday,MIN≦ay≦ay,MAX, in which VxMIN, and Vx,max are predetermined minimum and maximum values of the vehicle speed, δMIN and δMAX are predetermined minimum and maximum values for the steer angle, rMIN and rMAX are predetermined minimum and maximum values of the yaw rate, and ay,MIN and ay,MAX are predetermined minimum and maximum values of the lateral acceleration. |
