# US 10,479,368 B2 · Method and device for operating a driver assistance system, and driver assistance system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,368 B2 - Document ID: US10479368B2 - Status: Granted - Kind: B2 - Application number: 15/803,019 - Filed: 2017-11-03 - Published: 2018-05-10 - Granted: 2019-11-19 - Earliest claimed: 2016-11-09 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Andreas Offenhaeuser; Erik Lesser; Martin Kieren; Nils Hagenlocher - Web page: https://patentgrep.com/patent/US10479368B2 ## CPC - B60W 40/068: Road friction coefficient - B60W 30/02: Control of vehicle driving stability - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60T 8/171: Detecting parameters used in the regulation; Measuring values used in the regulation - B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - B60W 2050/0037: {Mathematical models of vehicle sub-units} - B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means} - B60W 2050/0083: {Setting, resetting, calibration} - B60W 2050/0088: {Adaptive recalibration} - B60W 2510/30: Auxiliary equipments - B60W 2530/20: Tyre data - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/35: Road bumpiness, e.g. potholes - B60W 2552/40: Coefficient of friction - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/55: using telemetry - G06F 17/11: for solving equations {, e.g. nonlinear equations, general mathematical optimization problems (optimization specially adapted for a specific administrative, business or logistic context G06Q10/04)} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - 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 - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method for operating a driver assistance system of a motor vehicle, which includes multiple wheels in contact with a roadway, the driver assistance system including at least one unit which includes a friction coefficient model and at least one sensor, which provides an input signal for the friction coefficient model, a friction coefficient between at least one of the wheels and the roadway being ascertained with the aid of the friction coefficient model, and the driver assistance system being set or calibrated as a function of the ascertained friction coefficient. Friction coefficients are ascertained with the aid of multiple of the units that ascertained friction coefficients are compared to one another, at least one valid friction coefficient of the friction coefficients is determined with the aid of the comparison, and the driver assistance system is set or calibrated as a function of the valid friction coefficient. ## Claims ### Claim 1 A method for operating a driver assistance system of a motor vehicle, which includes multiple wheels in contact with a roadway, the driver assistance system including at least one unit which includes a friction coefficient model and at least one sensor, which provides an input signal for the friction coefficient model, the method comprising: ascertaining a friction coefficient between at least one of the wheels and the roadway with the aid of the friction coefficient model; setting or calibrating the driver assistance system as a function of the ascertained friction coefficient; wherein a plurality of friction coefficients are ascertained with the aid of multiple of the units, simultaneously or almost simultaneously ascertained friction coefficients are compared to one another, at least one valid friction coefficient of the plurality of friction coefficients being determined with the aid of the comparison, and the driver assistance system is set or calibrated as a function of the valid friction coefficient. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein an origin of the respective friction coefficient is taken into consideration in the comparison of the friction coefficients. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein an error-proneness of the friction coefficient is determined as a function of which of the units ascertains the respective friction coefficient, and is taken into consideration in the comparison. ### Claim 4 (depends on 3) The method as recited in claim 3, wherein at least one ambient condition is detected, and the error-proneness is determined as a function of the detected ambient condition. ### Claim 5 (depends on 4) The method as recited in claim 4, wherein at least one of an outside temperature, a humidity, a roadway condition, and a tire age of at least one of the wheels, are monitored as the ambient condition. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein at least one friction coefficient is determined as a function of at least one of a present outside temperature, a windshield wiper activity, a window opening, an inside temperature, a ventilation system activity, and an air conditioning system activity. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein at least one of the friction coefficients is determined as a function of data of a navigation system. ### Claim 8 (depends on 1) The method as recited in claim 1, wherein at least one of the friction coefficients is determined as a function of a present driving characteristic of the motor vehicle. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein at least one of the friction coefficient models is calibrated/corrected as a function of the valid friction coefficient. ### Claim 10 (depends on 1) The method as recited in claim 1, wherein at least one of the ascertained friction coefficients is determined as a function of a chronological progression, and an interference factor influencing the validity of the respective friction coefficient is determined as a function of at least one of the detected ambient conditions. ### Claim 11 (depends on 1) The method as recited in claim 1, wherein at least one of the friction coefficient models is calibrated or set with the aid of the determined interference factor. ### Claim 12 (depends on 1) The method as recited in claim 1, wherein the respectively ascertained friction coefficient and/or the valid friction coefficient are transmitted to a central database. ### Claim 13 (depends on 1) The method as recited in claim 1, wherein at least one friction coefficient is provided by a central database, which communicates with multiple motor vehicles. ### Claim 14 A device for operating a driver assistance system of a motor vehicle, which includes multiple wheels in contact with a roadway, the driver assistance system including multiple units which each includes a friction coefficient model and at least one sensor, and which provides an input signal for the friction coefficient model, the device comprising: a control unit connected to the units, the control unit being specifically configured to ascertain a friction coefficient between at least one of the wheels and the roadway with the aid of the friction coefficient model, the control unit configured to set or calibrate the driver assistance system as a function of the ascertained friction coefficient, wherein a plurality of friction coefficients ascertained with the aid of multiple of the units, simultaneously or almost simultaneously ascertained friction coefficients are compared to one another, at least one valid friction coefficient of the plurality of friction coefficients being determined with the aid of the comparison, and the driver assistance system is set or calibrated as a function of the valid friction coefficient. ### Claim 15 A driver assistance system for a motor vehicle, which includes multiple wheels in contact with a roadway, the driver assistance system comprising: multiple units which each include a friction coefficient model and at least one sensor, which provides an input signal for the respective friction coefficient model; and a control unit connected to the units, the control unit being specifically configured to ascertain a friction coefficient between at least one of the wheels and the roadway with the aid of the friction coefficient model, the control unit configured to set or calibrate the driver assistance system as a function of the ascertained friction coefficient, wherein a plurality of friction coefficients ascertained with the aid of multiple of the units, simultaneously or almost simultaneously ascertained friction coefficients are compared to one another, at least one valid friction coefficient of the plurality of friction coefficients being determined with the aid of the comparison, and the driver assistance system is set or calibrated as a function of the valid friction coefficient.