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DE10163678A1 - Determination of the grip coefficient of road surfaces, e.g. for road building, by use of any motor vehicle equipped with movement and or acceleration measurement equipment - Google Patents

Determination of the grip coefficient of road surfaces, e.g. for road building, by use of any motor vehicle equipped with movement and or acceleration measurement equipment

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Publication number
DE10163678A1
DE10163678A1 DE10163678A DE10163678A DE10163678A1 DE 10163678 A1 DE10163678 A1 DE 10163678A1 DE 10163678 A DE10163678 A DE 10163678A DE 10163678 A DE10163678 A DE 10163678A DE 10163678 A1 DE10163678 A1 DE 10163678A1
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Germany
Prior art keywords
grip
vehicle
determined
braking
road
Prior art date
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Ceased
Application number
DE10163678A
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German (de)
Inventor
Joachim Lauffer
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Individual
Original Assignee
Individual
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Filing date
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Priority to DE10163678A priority Critical patent/DE10163678A1/en
Publication of DE10163678A1 publication Critical patent/DE10163678A1/en
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G01N19/02—Measuring coefficient of friction between materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/36—Global Positioning System [GPS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The method for determining the grip of a road surface using any motor vehicle, involves measurement of its braking deceleration by measurement of its movement data. The road grip coefficient is then determined using the calculated deceleration, other vehicle data and the slope of the road on which the tests are being carried out. The invention also relates to a corresponding device for implementation of the invention. The device comprises either a GPS system or acceleration sensor or both for determination of movement and deceleration figures.

Description

1. Technisches Gebiet1. Technical field

Die Erfindung betrifft folgende Gebiete:

  • - Bauingenieurwesen, speziell: Straßen- und Verkehrswesen
  • - Unfallforschung Straßenverkehr
  • - Automobil- und Reifenindustrie
  • - Fahrzeugelektronik und elektronische Navigation
The invention relates to the following fields:
  • - Civil engineering, specifically: road and traffic
  • - Road traffic accident research
  • - automotive and tire industries
  • - Vehicle electronics and electronic navigation

2. Stand der Technik2. State of the art

Die Ermittlung der Griffigkeit von Verkehrsflächen (Straßenoberflächen und andere Verkehrsflächen wie zum Beispiel Landebahnen) erfolgt derzeit weltweit mittels Spezialfahrzeugen oder mittels einer kleinen tragbaren Pendeleinrichtung, die auf die zu untersuchende Verkehrsfläche gestellt wird. Die Spezialfahrzeuge, beispielhaft sei der Stuttgarter Reibungsmesser genannt, können bauartbedingt nicht schneller als 80 km/h fahren. The determination of the grip of traffic areas (road surfaces and others Traffic areas such as runways) are currently used worldwide Special vehicles or by means of a small portable pendulum device that is based on the traffic area to be examined is provided. The special vehicles, the Stuttgart friction meter may be mentioned as an example, because of its design it cannot drive faster than 80 km / h.

Mit den Spezialfahrzeugen wird ein Messrad (teilweise) blockiert bzw. schräg gestellt, um dabei die Kraftübertragung zwischen Straßenoberfläche und Messrad zu ermitteln. Die ersten Messfahrzeuge wurden zu einer Zeit entwickelt, als es noch keine Antiblockiersysteme (ABS) auf dem Markt gab. Heute wird jeder Pkw mit ABS geliefert. With the special vehicles, a measuring wheel is (partially) blocked or inclined provided to the power transmission between road surface and measuring wheel determine. The first measuring vehicles were developed at a time when it was still there there were no anti-lock braking systems (ABS) on the market. Today every car with ABS delivered.

Mit den derzeitigen Messverfahren wird in aller Regel der Gleitreibungswiderstand bei einem konstanten Geschwindigkeitsverhalten ermittelt. With the current measurement methods, the sliding friction resistance is usually determined at a constant speed behavior.

Fundstellen (Auszug):

  • - Bundesanstalt für Straßenwesen (http:/ / www.forschung.bmbf.de)
  • - Kommentar zu: Richtlinien für die Anlage von Landstraßen RAL-L-1, 1979 (Forschungsgesellschaft für das Straßenwesen, Köln, 1979)
  • - verschiedene Artikel zum Thema Straßengriffigkeit in STRASSE + AUTOBAHN 3/95 (Organ der Forschungsgesellschaft für Straßen- und Verkehrswesen und der Bundesvereinigung der Straßenbau- und Verkehrsingenieure BSVI) sowie dortige Literaturangaben.
Locations (excerpt):
  • - Federal Highway Research Institute (http: / / www.forschung.bmbf.de)
  • - Comment on: Guidelines for the construction of rural roads RAL-L-1, 1979 (Research Association for Roads, Cologne, 1979)
  • - Various articles on the topic of road grip in STRASSE + AUTOBAHN 3/95 (organ of the Research Society for Roads and Traffic and the Federal Association of Road Construction and Traffic Engineers BSVI) as well as literature references there.

3. Der Erfindung zugrundliegende Probleme3. Problems underlying the invention

  • - Die Ermittlung der Griffigkeit erfolgt bisher mittels schwerfälliger und teurer Spezialfahrzeuge. Diese dürfen bauartbedingt nicht schneller als 80 km/h fahren. - So far, the grip has been determined by means of cumbersome and expensive Special vehicles. Due to their design, these must not exceed 80 km / h drive.
  • - Die Griffigkeitsbeiwerte werden nur bei einer festgelegten Geschwindigkeit ermittelt (Autobahnen bei 80 km/h, sonstige Straßen 60 km/h). - The grip coefficients are only at a fixed speed determined (motorways at 80 km / h, other roads 60 km / h).
  • - Es sind nur wenige Spezialfahrzeuge vorhanden. - There are only a few special vehicles.
  • - Die Messverfahren entsprechen nicht den heutigen ABS-Bremssystemen (ABS-Bremsverhalten: ca. 20 v. H. Gleit- und ca. 80 v. H. Haftreibung). - The measurement methods do not correspond to today's ABS brake systems (ABS braking behavior: approx. 20% sliding and approx. 80% static friction).
  • - Die derzeitigen Messverfahren sind wenig flexibel. - The current measurement methods are not very flexible.
  • - Mit dem tragbaren stationären Pendelgerät lassen sich nur sehr ungenaue Messwerte erzielen. Sie sind nicht geschwindigkeitsbezogen. - The portable stationary pendulum device can only be very imprecise Get readings. They are not speed related.
  • - Die Richtlinien zum Straßenentwurf basieren auf Griffigkeitsbeiwerten, die nur bis 80 km/h ermittelt worden sind. Die Berechnung der Bremswege sowie der Größen von Kurvenradien und entsprechenden Entwurfsparametern hängen in besonderem Maße von einer genauen Ermittlung der Griffigkeitsbeiwerte ab. - The guidelines for road design are based on grip factors that have only been determined up to 80 km / h. The calculation of the braking distances as well as the sizes of curve radii and corresponding design parameters depend in particular on an exact determination of the Non-slip coefficients.
  • - Die in den Richtlinien enthaltenen Griffigkeitsbeiwerte weichen in erheblichem Maße von den tatsächlich vorhandenen Griffigkeitsbeiwerten ab. - The grip coefficients contained in the guidelines give way to a considerable extent on the actual grip properties.
4. Die Erfindung4. The invention

Mit der Erfindung werden die Werte der tatsächlich vorhandenen Straßengriffigkeit in allen Geschwindigkeitsbereichen ermittelt. With the invention, the values of the actual road grip determined in all speed ranges.

Die Einsatzgebiete sind universal. The areas of application are universal.

Mit den in den Patentansprüchen dargestellten Methoden werden die Reibungsbeiwerte der Straßengriffigkeit zum Beispiel mit einem handelsüblichen Pkw durchgeführt, der mit den entsprechenden Messgeräten ausgestattet ist. Im Normalfall werden dies sein:
GPS-Empfänger (Ein- oder Zweikanal-Empfänger, mit oder ohne Differential-GPS) sowie gegebenenfalls ein Beschleunigungsmesser (wie beispielsweise ein handelsüblicher Unfalldatenspeicher). With the methods described in the patent claims, the friction coefficients of the road grip are carried out, for example, with a commercially available car that is equipped with the appropriate measuring devices. Usually these will be:
GPS receiver (one or two-channel receiver, with or without differential GPS) and, if necessary, an accelerometer (such as a commercially available accident data memory).

Bei der Fahrt über zu untersuchende Verkehrsflächen beziehungsweise Straßenabschnitte wird durch sehr kurze Bremsmanöver die Bremsverzögerung ermittelt. Dies geschieht entweder direkt mit einem Beschleunigungs-Messgerät oder mittels eines GPS-Systems, welches die Fahrdaten aufgezeichnet. Aus den GPS- Ortsdaten lassen sich die Werte von

  • - Ort und Zeit und daraus wiederum die
  • - Geschwindigkeit und Bremsverzögerung
ermitteln. When driving over traffic areas or road sections to be examined, the braking deceleration is determined by very short braking maneuvers. This is done either directly with an accelerometer or by means of a GPS system that records the driving data. The values of can be derived from the GPS location data
  • - Place and time and, in turn, the
  • - speed and deceleration
determine.

Aus den Werten der Bremsverzögerung sowie der vorhandenen Straßenlängsneigung und den fahrzeugtypischen Daten werden mit der Beziehung

f = a/g - s/100 - WL/G

die tatsächlichen Kraftschlussbeiwerte f (Straßengriffigkeit) errechnet. Es bedeuten:
a = Beschleunigung (m/sec2)
g = Erdbeschleunigung (m/sec2)
s = Längsneigung der Straße bzw. Verkehrsfläche (%)
WL = Luftwiderstand Fahrzeug (N)
G = Fahrzeuggewicht, beladen (N) From the values of the braking deceleration as well as the existing inclination of the road and the vehicle-typical data with the relationship

f = a / g - s / 100 - W L / G

the actual adhesion coefficients f (grip) are calculated. It means:
a = acceleration (m / sec 2 )
g = gravitational acceleration (m / sec 2 )
s = longitudinal inclination of the street or traffic area (%)
W L = air resistance vehicle (N)
G = vehicle weight, loaded (N)

Mit diesem Verfahren kann die Straßengriffigkeit in allen Geschwindigkeitsbereichen festgestellt werden. With this procedure, grip can be achieved in all Speed ranges are determined.

5. Gewerbliche Anwendbarkeit5. Industrial applicability

Der Gegenstand der Erfindung ist zum Beispiel anwendbar

  • - bei Straßenbaufirmen (im Rahmen der Gewährleistung der geforderten Griffigkeit)
  • - bei den Straßenbauverwaltungen (im Rahmen der Gewährleistungs- Kontrolle sowie zur laufenden Kontrolle während der gesamten Gebrauchsdauer eines Verkehrsweges)
  • - in Technischen Überwachungsstellen (Unfallauswertung und -forschung)
  • - in der Lehre und Forschung (Hochschulen)
  • - in Forschungsinstituten.
The subject of the invention is applicable, for example
  • - for road construction companies (within the framework of ensuring the required grip)
  • - with the road construction administrations (as part of the warranty control and for ongoing control during the entire service life of a traffic route)
  • - in technical monitoring centers (accident evaluation and research)
  • - in teaching and research (universities)
  • - in research institutes.

6. Vorteilhafte Wirkungen6. Beneficial effects

Die vorteilhaften Wirkungen beruhen auf einer kompakten, preiswerten und universell einsetzbaren Messgerätezusammenstellung und in einer ganz neuen Vorgehensweise, nämlich der Kfz-typischen Ermittlung der Straßengriffigkeit und in der geschwindigkeitsvariablen Einsetzbarkeit. The beneficial effects are based on a compact, inexpensive and Universally applicable measuring device combination and in a completely new one Approach, namely the typical determination of the road grip and in the vehicle speed variable usability.

Vorteile werden durch die Erfindung unter anderem erzielt:

  • - siehe Ziffer 5
  • - wesentlich preisgünstiger im Vergleich zu herkömmlichen Systemen
  • - kompakte Geräteeinheit (überall einsetzbar)
  • - Hilfsmittel für die Unfall-Forschung und die Unfall-Beweissicherung.
Advantages achieved by the invention include:
  • - see section 5
  • - Much cheaper compared to conventional systems
  • - compact device unit (can be used anywhere)
  • - Tools for accident research and accident evidence preservation.

7. Weg zum Ausführen der Erfindung7. Way of carrying out the invention

Die Ermittlung der Griffigkeit von Verkehrsflächen wird anhand folgenden Beispieles aufgezeigt:

  • 1. Fahrt mit einem Personenkraftwagen, ausgerüstet mit einer GPS-Ausrüstung sowie einem Unfalldatenspeicher (Zeichnung Bild 1).
  • 2. Messergebnisse mittels GPS von einer Messfahrt auf einem süddeutschen Flugplatz (Zeichnung Bild 2).
The following example shows how to determine the grip of traffic areas:
  • 1. Drive in a passenger car, equipped with GPS equipment and an accident data memory (drawing Fig. 1).
  • 2. Measurement results using GPS from a measurement run at a south German airfield (drawing picture 2).

Claims (11)

1. Verfahren zum Ermitteln der Griffigkeit von Verkehrsflächen mittels eines Fahrzeuges, dessen Bremsverzögerung ermittelt wird, dadurch gekennzeichnet, dass Bewegungsdaten des Fahrzeuges und daraus Bremsverzögerungen ermittelt werden. 1. A method for determining the grip of traffic areas by means of a vehicle whose braking deceleration is determined, characterized in that movement data of the vehicle and braking decelerations are determined therefrom. 2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass aus den Bremsverzögerungswerten in Verbindung mit den Fahrzeugwerten die jeweils ausnutzbaren Kraftschlussbeiwerte und damit die Griffigkeit der Verkehrsfläche ermittelt werden. 2. The method according to claim 1, characterized in that from the Brake deceleration values in connection with the vehicle values exploitable adhesion factors and thus the grip of the traffic area be determined. 3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die ortsbezogenen Bewegungsdaten des Fahrzeuges von einem Global Positioning System (GPS) in sehr kurzen Zeitintervallen ermittelt werden, um daraus die örtliche Griffigkeit der Verkehrsfläche zu ermitteln. 3. The method according to claim 1 or 2, characterized in that the location-based movement data of the vehicle from a global positioning System (GPS) can be determined in very short time intervals to derive the to determine the local grip of the traffic area. 4. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Werte der Bremsverzögerungen mittels eines mitgeführten Beschleunigungsmessgerätes ermittelt werden, um daraus die örtliche Griffigkeit der Verkehrsfläche zu ermitteln. 4. The method according to claim 1 or 2, characterized in that the Braking deceleration values by means of a Accelerometer can be determined to determine the local grip of the To determine traffic area. 5. Verfahren nach wenigstens einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Werte der Bremsverzögerungen, die aus den GPS- Ortsinformationen sowie aus den gleichzeitigen Aufzeichnungen eines Beschleunigungsmessgerätes gewonnen werden, miteinander verglichen werden, um daraus die örtliche Griffigkeit der Verkehrsfläche zu ermitteln. 5. The method according to at least one of claims 1 to 4, characterized characterized that the values of the braking decelerations that result from the GPS Location information as well as from the simultaneous recordings of a Accelerometer can be obtained, compared to each other to determine the local grip of the traffic area. 6. Vorrichtung zur Durchführung des Verfahrens nach wenigstens einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass ein GPS-Empfänger während der Bremsvorgänge die ortsbezogenen Daten aufzeichnet. 6. Device for performing the method according to at least one of the Claims 1 to 5, characterized in that a GPS receiver during the braking processes records the location-related data. 7. Vorrichtung zur Durchführung des Verfahrens nach wenigstens einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass ein Beschleunigungsmessgerät die Werte der Bremsverzögerung aufzeichnet. 7. Device for performing the method according to at least one of the Claims 1 to 5, characterized in that an accelerometer records the braking deceleration values. 8. Vorrichtung zur Durchführung des Verfahrens nach wenigstens einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass ein GPS-Empfänger einem Beschleunigungsmessgerät im Fahrzeug zugeordnet ist. 8. Device for performing the method according to at least one of the Claims 1 to 7, characterized in that a GPS receiver Accelerometer is assigned in the vehicle. 9. Vorrichtung zur Durchführung des Verfahrens nach wenigstens einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die ermittelten Bewegungsdaten des Fahrzeuges sowie gegebenenfalls die Bremsverzögerungen per Funk übertragen oder direkt im Fahrzeug auf einem Datenträger abgelegt werden. 9. Device for performing the method according to at least one of the Claims 1 to 8, characterized in that the determined Movement data of the vehicle and, if necessary, the braking decelerations by radio transferred or stored directly on a data carrier in the vehicle. 10. Vorrichtung zur Durchführung des Verfahrens nach wenigstens einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Griffigkeit von Verkehrsflächen in Echtzeit im Fahrzeug selbst oder per Funkübertragung in einem externen Rechner ermittelt wird. 10. Device for performing the method according to at least one of the Claims 1 to 9, characterized in that the grip of Traffic areas in real time in the vehicle itself or by radio transmission in an external one Calculator is determined. 11. Vorrichtung zur Durchführung des Verfahrens nach wenigstens einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Ermittlung der Griffigkeit von Verkehrsflächen erst nach dem jeweiligen Bremsvorgang durchgeführt wird (post processing). 11. Device for performing the method according to at least one of the Claims 1 to 9, characterized in that the determination of the grip of traffic areas is only carried out after the respective braking process (post processing).
DE10163678A 2001-12-21 2001-12-21 Determination of the grip coefficient of road surfaces, e.g. for road building, by use of any motor vehicle equipped with movement and or acceleration measurement equipment Ceased DE10163678A1 (en)

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DE10163678A DE10163678A1 (en) 2001-12-21 2001-12-21 Determination of the grip coefficient of road surfaces, e.g. for road building, by use of any motor vehicle equipped with movement and or acceleration measurement equipment

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008065147A1 (en) * 2006-11-29 2008-06-05 Continental Teves Ag & Co. Ohg Device for determining a driving state and method for the driving-state-dependent operation of a combined vehicle brake system
CN102677578A (en) * 2012-05-23 2012-09-19 北京市路兴公路新技术有限公司 Vehicle-mounted high-precision deflection measurement device and servo control system thereof
WO2013026503A1 (en) * 2011-08-25 2013-02-28 Wabco Gmbh & Co. Ohg Method and control device for carrying out open-loop or closed-loop control of a vehicle brake system
CN103835212A (en) * 2014-02-21 2014-06-04 哈尔滨工业大学 Three-dimensional road surface detecting system
DE102014207084A1 (en) * 2014-04-14 2015-10-15 Siemens Aktiengesellschaft Method, device and system for detecting road damage
CN105019344A (en) * 2015-07-21 2015-11-04 中山市拓维电子科技有限公司 Road surface roughness monitor
CN111469849A (en) * 2019-01-24 2020-07-31 本田技研工业株式会社 Vehicle control device and vehicle

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DE10008665A1 (en) * 2000-02-24 2001-08-30 Zahnradfabrik Friedrichshafen Method of controlling motor vehicle drive system especially automatic transmission, involves using look-ahead variables for taking action on the vehicle systems
DE10010239A1 (en) * 2000-03-02 2001-09-13 Siemens Ag Arrangement for a brake system of a motor vehicle and a method for regulating the brake system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4435448A1 (en) * 1993-10-13 1995-04-20 Volkswagen Ag Method for permanently determining the coefficient of adhesion of a carriageway
DE10008665A1 (en) * 2000-02-24 2001-08-30 Zahnradfabrik Friedrichshafen Method of controlling motor vehicle drive system especially automatic transmission, involves using look-ahead variables for taking action on the vehicle systems
DE10010239A1 (en) * 2000-03-02 2001-09-13 Siemens Ag Arrangement for a brake system of a motor vehicle and a method for regulating the brake system

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8483925B2 (en) 2006-11-29 2013-07-09 Continental Teves Ag & Co. Ohg Device for determining a driving state and method for the driving-state-dependent operation of a combined vehicle brake system
WO2008065147A1 (en) * 2006-11-29 2008-06-05 Continental Teves Ag & Co. Ohg Device for determining a driving state and method for the driving-state-dependent operation of a combined vehicle brake system
US9008937B2 (en) 2011-08-25 2015-04-14 Wabco Gmbh Method and control device for open-loop or closed-loop control of a vehicle brake system
WO2013026503A1 (en) * 2011-08-25 2013-02-28 Wabco Gmbh & Co. Ohg Method and control device for carrying out open-loop or closed-loop control of a vehicle brake system
CN103648865A (en) * 2011-08-25 2014-03-19 威伯科有限公司 Method and control device for carrying out open-loop or closed-loop control of a vehicle brake system
CN103648865B (en) * 2011-08-25 2017-05-10 威伯科有限公司 Method and control device for carrying out open-loop or closed-loop control of a vehicle brake system
CN102677578A (en) * 2012-05-23 2012-09-19 北京市路兴公路新技术有限公司 Vehicle-mounted high-precision deflection measurement device and servo control system thereof
CN102677578B (en) * 2012-05-23 2017-03-15 北京市路兴公路新技术有限公司 Vehicular high accuracy flexure measurement apparatus and its servo-control system
CN103835212A (en) * 2014-02-21 2014-06-04 哈尔滨工业大学 Three-dimensional road surface detecting system
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