Tire and ground adhesion estimating method for controlling stability of motor vehicle during turning, involves selecting calculating model corresponding to determined situation of vehicle, and calculating adhesion of vehicle based on model

摘要

The method involves providing a value of a parameter that is chosen from a group comprising longitudinal speed (V), wheel steering angle, transversal acceleration, and drift, of a motor vehicle. A situation e.g. transitory situation or pure drift situation, of the vehicle is determined from the provided value, by using a motor vehicle situation determining block (40). An adhesion calculating model e.g. friction model or bicycle model, corresponding to the determined situation is selected. Adhesion (Mu) of the vehicle is calculated based on the selected model. An independent claim is also included for an adhesion estimating device of a motor vehicle, comprising an adhesion calculating block.