| 摘要 |
The invention relates to a method and to an apparatus for estimating a coefficient of friction in a moving vehicle. To this end, provision is made for image data from a forward-facing vehicle camera in the vehicle to be evaluated such that conclusions can be drawn about the carriageway surface. Classification of the coefficient of friction from the camera image data are performed, said classification providing a camera coefficient of friction μk. On the basis of a wheel rotation speed signal, tyre slip and tyre vibration are analysed and classification of the coefficient of friction is performed based on said analysis, said classification providing a wheel coefficient of friction μw. The predictive estimation of the coefficient of friction takes place as a fusion of the camera coefficient of friction and the wheel coefficient of friction, wherein the predictive estimation of the coefficient of friction takes place primarily on the basis of the camera coefficient of friction μk, but the wheel coefficient of friction μw is continuously taken into account in order to check plausibility of the camera coefficient of friction μk. |
