JPH0483147A - Road surface friction coefficient measuring device - Google Patents
Road surface friction coefficient measuring deviceInfo
- Publication number
- JPH0483147A JPH0483147A JP2198294A JP19829490A JPH0483147A JP H0483147 A JPH0483147 A JP H0483147A JP 2198294 A JP2198294 A JP 2198294A JP 19829490 A JP19829490 A JP 19829490A JP H0483147 A JPH0483147 A JP H0483147A
- Authority
- JP
- Japan
- Prior art keywords
- friction coefficient
- road surface
- surface friction
- wheel
- fluid pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012530 fluid Substances 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 abstract 2
- 230000035939 shock Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 1
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、路面の摩擦係数を短時間に簡便に測定する路
面摩擦係数計測装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a road surface friction coefficient measuring device that easily measures the friction coefficient of a road surface in a short time.
高速道路等では、路面が所定の摩擦係数値を有している
かどうかは、車両の安全走行を保障する上で重要な問題
である。このため、定期的に路面のｊ１！擦係数値の計
測が行われている。また、自動車走行試験用の路面設備
に於ては、路面摩擦係数値を明確にしておく必要があり
、このような設備では当然ながら路面摩擦係数の計測が
行われる。On expressways and the like, whether or not the road surface has a predetermined friction coefficient value is an important issue in ensuring safe driving of vehicles. For this reason, J1 on the road regularly! The friction coefficient value is being measured. Furthermore, in road equipment for vehicle running tests, it is necessary to clarify the road surface friction coefficient value, and as a matter of course, such equipment measures the road surface friction coefficient.
路面摩擦係数の計測に於ては従来、車両に牽引される第
２の車両に於て、標準タイヤを装備した車輪を有し、当
該車輪に作用する路面摩擦係数を計測する装置を装備し
、車両走行のまま前記車輪をロックアツプ（固着）状態
に至らしめる程に前記車輪のブレーキ液圧を上昇させ、
その際の路面摩擦係数の最大値を計測する。また、路面
摩擦係数を検出する装置として、容積、重量ともに大き
く、かつ高価なロードセルが用いられる。Conventionally, in measuring the road surface friction coefficient, a second vehicle towed by the vehicle has wheels equipped with standard tires, and is equipped with a device for measuring the road surface friction coefficient acting on the wheels. increasing the brake fluid pressure of the wheels to the extent that the wheels are brought into a lock-up state while the vehicle is running;
The maximum value of the road surface friction coefficient at that time is measured. Further, as a device for detecting the road surface friction coefficient, a load cell is used, which is large in volume and weight, and is expensive.
〔発明が解決しようとする課題〕
従来の路面摩擦係数計測装置では、路面摩擦係数の測定
時には標準タイヤを装備した車輪がロックアツプするほ
どに強く当該車輪のブレーキを作動させる。このため、
車両に強い衝撃が加わる、計測に時間を要する、等の問
題があった。また、ロードセルが容積、重量ともに大き
く牽引車両にしか前記車輪を取り付けられない、更にロ
ードセルが高価であるという問題もあった。本発明は従
来の技術が有するこのような問題点を解決した路面摩擦
係数計測装置を提供することを目的とする。[Problems to be Solved by the Invention] In the conventional road surface friction coefficient measuring device, when measuring the road surface friction coefficient, the brakes of the wheels equipped with standard tires are applied so strongly that the wheels are locked up. For this reason,
There were problems such as the strong impact being applied to the vehicle and the time required for measurement. Further, the load cell has a large volume and weight so that the wheel can only be attached to a towing vehicle, and there is also a problem that the load cell is expensive. An object of the present invention is to provide a road surface friction coefficient measuring device that solves the above-mentioned problems of the conventional technology.
本発明は路面摩擦係数計測装置であって、特許請求の範
囲第１．２、若しくは３項に記載した特徴を備えたもの
である。The present invention is a road surface friction coefficient measuring device having the features described in Claims 1.2 and 3.
本発明になる路面摩擦係数計測装置は、車両走行時に標
準タイヤを装備した車輪のブレーキ液圧を微小量だけ上
昇及び下降させることにより、衝撃が少なくかつ短時間
で路面の摩擦係数を計測する。また、路面摩擦係数検出
装置として車軸若しくは車軸近傍の歪を検出するコンパ
クトな装置を使用するため、更にブレーキを強く作動さ
せないために、標準タイヤを装備した車輪を、牽引車両
を要することなく自動車等の車両そのものに取り付けて
路面摩擦係数を計測することも可能である。The road surface friction coefficient measuring device according to the present invention measures the road surface friction coefficient in a short time with little impact by increasing and decreasing the brake fluid pressure of wheels equipped with standard tires by a minute amount while the vehicle is running. In addition, since a compact device that detects strain on the axle or near the axle is used as a road surface friction coefficient detection device, in order to avoid applying the brakes too strongly, wheels equipped with standard tires can be attached to vehicles without the need for a towing vehicle. It is also possible to measure the coefficient of road friction by attaching it to the vehicle itself.
また、路面摩擦係数検出装置が安価である。このように
、安価にかつ簡便に路面摩擦係数を計測することができ
る。Furthermore, the road surface friction coefficient detection device is inexpensive. In this way, the road surface friction coefficient can be measured easily and inexpensively.
特許請求の範囲第１項記載の路面摩擦係数計測装置では
、標準タイヤを装備した車輪のブレーキの作動時に、路
面摩擦係数と、車輪の回転速度とを検出して、これによ
り路面摩擦係数対車輪のスリップ比の関係を算出して、
更にその結果から目的とする路面摩擦係数の最大値を特
徴する特許請求の範囲第２項記載の路面摩擦係数計測装
置では、標準タイヤを装備した車輪のブレーキの作動時
に、路面摩擦係数とブレーキ液圧を検出して、これによ
り路面摩擦係数対車輪のスリップ比の関係を算出して、
更にその結果から目的とする路面摩擦係数の最大値を特
徴する
特許請求の範囲第３項記載の路面摩擦係数計測装置は、
特許請求の範囲第１、若しくは２項記載の路面摩擦係数
計測装置に於て、当該装置に備わる前記制御装置が、ブ
レーキ液圧を段階的に上昇下降させる、或は上昇下降を
複数回反復させる、或はこれらを同時に行うことにより
、路面摩擦係数の最大値をより精度良く演算して推定す
る。The road surface friction coefficient measuring device according to claim 1 detects the road surface friction coefficient and the rotational speed of the wheel when the brake of a wheel equipped with a standard tire is applied, and thereby detects the road surface friction coefficient versus the wheel. Calculate the slip ratio relationship of
Furthermore, in the road surface friction coefficient measuring device according to claim 2, which is characterized in that the target maximum value of the road surface friction coefficient is determined from the result, when the brakes of wheels equipped with standard tires are operated, the road surface friction coefficient and the brake fluid are determined. Detect the pressure and use this to calculate the relationship between the road surface friction coefficient and the wheel slip ratio.
Furthermore, the road surface friction coefficient measuring device according to claim 3 is characterized in that the target maximum value of the road surface friction coefficient is determined from the result.
In the road surface friction coefficient measuring device according to claim 1 or 2, the control device included in the device raises and lowers the brake fluid pressure stepwise, or repeats the raising and lowering a plurality of times. , or by performing these simultaneously, the maximum value of the road surface friction coefficient can be calculated and estimated with higher accuracy.
ここに示すのは好ましい実施形態の一例であって、特許
請求の範囲はここに示す実施例に限定されるものではな
い。What is shown here is an example of a preferred embodiment, and the scope of the claims is not limited to the example shown here.
第１図は、特許請求の範囲第１項記載の路面摩擦係数計
測装置の実施例に於ける全体構成を示すブロック図であ
る。６は標準タイヤを装備した車輪である。路面摩擦係
数を計測しないときには、切り替え弁４の作用でブレー
キペダル１とマスターシリンダ２で生成されるブレーキ
液圧が配管３を経由してブレーキパッド５へ伝達される
。このときブレーキ液圧発生装置８につながる配管３は
、切り替え弁４で閉塞される。ブレーキ液圧発生装置は
公知の技術で構成可能である。また、切り替え弁４は、
公知の油圧制御弁により容易に構成可能である。路面摩
擦係数検出装置１０は、車軸若しくは車軸近傍の歪を介
して路面摩擦係数を検出するもので、同一出願人による
特許出願（例えば出願番号平１−１９７８０９ ）を使
用する。制御装置７は、路面摩擦係数の検出信号１１及
び車輪速度の検出信号１３に基づいて路面摩擦係数の最
大値を演算推測する。制御装置７は、マイクロコンピュ
ータ、メモリ、入出力インタフェイス等からなる電子装
置である。車輪速度検出装置１２は、公知の技術を用い
る。制御装置７は、第２図（ａ）に示すようにブレーキ
液圧Ｐを上昇及び下降させるべくブレーキ液圧発生装置
８に指示する。これに伴って、（ｂ）、（Ｃ）のように
路面摩擦係数μ、及び車輪速度ωが時間とともに計測さ
れ制御装置７に取り込まれる。制御装置７は、これらを
もとに演算を行う。車輪速度ωの検出値からスリップ比
５＝１−ω／ωＳを算出することができる。ここで、ω
Ｓは車体速度であり、ブレーキを作動させない他の車輪
の回転速度から得られる。路面摩擦係数の時間変化μ（
１）と、スリップ比の時間変化Ｓ （ｔ）とからμ（Ｓ
）を演算する。印加するブレーキ液圧Ｐの最大値は、μ
及びＳがμ対Ｓ曲線の最大点に達するより低いレベルに
とどまるような十分低い値である。一般にμ対Ｓ曲線は
、その原点近くのμ対Ｓの関係から、ある程度μ対Ｓ曲
線の最大点を推測することができる。制御装置ではこの
推測をマイクロコンピュータの働きにより行う。得られ
たμの最大値が目的とする路面摩擦係数の最大値である
。FIG. 1 is a block diagram showing the overall configuration of an embodiment of the road surface friction coefficient measuring device according to claim 1. 6 is a wheel equipped with standard tires. When the road surface friction coefficient is not measured, the brake fluid pressure generated by the brake pedal 1 and the master cylinder 2 is transmitted to the brake pad 5 via the piping 3 by the action of the switching valve 4 . At this time, the pipe 3 connected to the brake fluid pressure generator 8 is closed by the switching valve 4. The brake fluid pressure generating device can be constructed using known techniques. Moreover, the switching valve 4 is
It can be easily constructed using a known hydraulic control valve. The road surface friction coefficient detection device 10 detects the road surface friction coefficient through the distortion of the axle or the vicinity of the axle, and uses a patent application filed by the same applicant (for example, application number Hei 1-197809). The control device 7 calculates and estimates the maximum value of the road surface friction coefficient based on the road surface friction coefficient detection signal 11 and the wheel speed detection signal 13. The control device 7 is an electronic device including a microcomputer, memory, input/output interface, and the like. The wheel speed detection device 12 uses a known technique. The control device 7 instructs the brake fluid pressure generating device 8 to increase and decrease the brake fluid pressure P as shown in FIG. 2(a). Along with this, as shown in (b) and (C), the road surface friction coefficient μ and the wheel speed ω are measured over time and taken into the control device 7. The control device 7 performs calculations based on these. Slip ratio 5=1-ω/ωS can be calculated from the detected value of wheel speed ω. Here, ω
S is the vehicle speed, which is obtained from the rotational speed of the other wheels that do not apply the brakes. Time change of road friction coefficient μ(
1) and the time change in slip ratio S (t), μ(S
) is calculated. The maximum value of brake fluid pressure P to be applied is μ
and a sufficiently low value such that S remains at a level below which the maximum point of the μ vs. S curve is reached. Generally, the maximum point of the μ vs. S curve can be estimated to some extent from the μ vs. S relationship near its origin. In the control device, this estimation is performed by the action of a microcomputer. The maximum value of μ obtained is the target maximum value of the road surface friction coefficient.
第３図は、特許請求の範囲第２項記載の路面摩擦係数計
測装置の実施例に於ける全体構成を示すブロック図であ
る。車輪速度検出装置１２の替わりにブレーキ液圧検出
装置１４を装備する点以外第１図に示す構成と同じであ
る。本請求項における装置は、制御装置７は路面摩擦係
数の検出値μとブレーキ液圧の検出値Ｐとから、路面摩
擦係数の最大値を演算推定する。車輪の運動方程式＝１
・ｄω／ｄｔ ＝ μ・Ｎ−ｒ −ｋ−Ｐ から、ω
５−ｄＳ／ｄμ・ｄμ／ｄＬ＋ （Ｎ−ｒ／工）μ＝（
ｋ／Ｉ）Ｐ が得られる。ここで、■は車輪の慣性モ
ーメント、Ｎは車輪に作用する垂直抗力、ｒは車輪半径
、ｋはブレーキトルクとブレーキ液圧との間の比例係数
、しは時間である。この式かられかるように、μとＰの
時間変化からｄＳ／ｄμを算出することができる。これ
より、μ対Ｓの関係を算出することも可能である。印加
するブレーキ液圧Ｐは、前記の特許請求の範囲第１項記
載の装置と同様に第２図に示すとおりで、μ及びＳがμ
対Ｓ曲線の最大点に達するより低いレベルにとどまるよ
うな十分低い値である。制御装置では前記と同様に目的
とする路面摩擦係数の最大値を演算により推測する。FIG. 3 is a block diagram showing the overall configuration of an embodiment of the road surface friction coefficient measuring device according to claim 2. The configuration is the same as that shown in FIG. 1 except that a brake fluid pressure detection device 14 is provided instead of the wheel speed detection device 12. In the apparatus according to the present invention, the control device 7 calculates and estimates the maximum value of the road surface friction coefficient from the detected value μ of the road surface friction coefficient and the detected value P of the brake fluid pressure. Equation of motion of wheel = 1
・From dω/dt = μ・N−r −k−P, ω
5-dS/dμ・dμ/dL+ (N-r/engine) μ=(
k/I)P is obtained. Here, ■ is the moment of inertia of the wheel, N is the normal force acting on the wheel, r is the radius of the wheel, k is the proportionality coefficient between the brake torque and the brake fluid pressure, and is the time. As can be seen from this equation, dS/dμ can be calculated from the temporal changes in μ and P. From this, it is also possible to calculate the relationship between μ and S. The brake fluid pressure P to be applied is as shown in FIG.
This is a sufficiently low value that it remains at a level below the maximum point of the S curve. The control device estimates the target maximum value of the road surface friction coefficient by calculation in the same manner as described above.
特許請求の範囲第３項記載の路面摩擦係数計測装置の全
体構成図は、第１図又は第２図と同様である。本請求項
に於けるブレーキ液圧の印加の形式は第２図（ａ）の波
形を複数回繰り返すのが実施例の一つである。これによ
り制御装置に於て、各回のブレーキ液圧の上昇下降によ
る計測値を平均操作して精度の良い路面摩擦係数の最大
値を得る。The overall configuration diagram of the road surface friction coefficient measuring device recited in claim 3 is similar to FIG. 1 or 2. One embodiment of the brake fluid pressure application method according to the present invention is to repeat the waveform shown in FIG. 2(a) a plurality of times. As a result, the control device averages the measured values of each rise and fall of the brake fluid pressure to obtain a highly accurate maximum value of the road surface friction coefficient.
また、第２図（ａ）の波形に於てブレーキ液圧Ｐの上昇
下降の速度を十分小さくする事により、雑音等による測
定誤差を極小化し、精度の良い路面摩擦係数の最大値を
得ることもできる。さらにもう一つの実施例は第４図に
示すように、ブレーキ液圧を段階的に上昇下降させるも
のである。ブレーキ液圧の静止期間を設け、μ、ω等の
定常値を測定することにより雑音等による測定誤差を極
小化することができる。In addition, by making the rate of rise and fall of the brake fluid pressure P sufficiently small in the waveform shown in Fig. 2 (a), measurement errors due to noise etc. can be minimized and the maximum value of the road surface friction coefficient can be obtained with high accuracy. You can also do it. Yet another embodiment, as shown in FIG. 4, is one in which the brake fluid pressure is raised and lowered in stages. By providing a rest period for the brake fluid pressure and measuring steady values of μ, ω, etc., measurement errors due to noise etc. can be minimized.
本発明になる路面摩擦係数計測装置は、車両走行時に標
準タイヤを装備した車輪のブレーキ液圧を５１１ ／Ｊ
％量だけ上昇及び下降させることにより、衝撃が少なく
かつ短時間で路面の摩擦係数を計測することができる。The road surface friction coefficient measuring device according to the present invention measures the brake fluid pressure of wheels equipped with standard tires when the vehicle is running at 511/J.
By increasing and decreasing the amount by %, the coefficient of friction of the road surface can be measured in a short time with less impact.
また、路面摩擦係数検出装置として車軸若しくは車軸近
傍の歪を検出するコンパクトな装置を使用するため、更
にブレーキを強く作動させないために、標準タイヤを装
備した車輪を、牽引車両を要することなく自動車等の車
両そのものに取り付けて路面摩擦係数を計測することも
可能である。また、路面摩擦係数検出装置が安価である
。このように、安価にかつ簡便に路面摩擦係数を計測す
ることができる。In addition, since a compact device that detects strain on the axle or near the axle is used as a road surface friction coefficient detection device, in order to avoid applying the brakes too strongly, wheels equipped with standard tires can be attached to vehicles without the need for a towing vehicle. It is also possible to measure the coefficient of road friction by attaching it to the vehicle itself. Furthermore, the road surface friction coefficient detection device is inexpensive. In this way, the road surface friction coefficient can be measured easily and inexpensively.
第１図は、特許請求の範囲第１項記載の路面摩擦係数計
測装置の実施例に於ける全体構成を示すブロック図、
第２図は、特許請求の範囲第１項記載の路面摩擦係数計
測装置の実施例に於ける動作を示すグラフで、（ａ）は
制御装置の指示による油圧Ｐの時間変化を表すグラフ、
（ｂ）は検出される路面摩擦係数μ対時間を表すグラフ
、（ｃ）は検出される車輪速度ω対時間を表すグラフ、
第３図は、特許請求の範囲第２項記載の路面摩擦係数検
出装置の実施例に於ける全体構成を示すブロック図、
第４図は、特許請求の範囲第３項記載の路面摩擦係数計
測装置の実施例に於ける動作を示すグラフで、（ａ）は
制御装置の指示による油圧Ｐの時間変化を表すグラフ、
（ｂ）は検出される路面摩擦係数μ対時間を表すグラフ
、（ｃ）は検出される車輪速度ω対時間を表すグラフで
ある。
ブレーキペダル
マスターシリンダ
ブレーキ液圧配管
切り替え弁
ブレーキパッド
標準タイヤを装備した車輪
制御装置
ブレーキ液圧発生装置
ブレーキ液圧を指示する信号
路面摩擦係数検出装置
路面摩擦係数の検出信号
車輪速度検出装置
車輪速度検出信号
ブレーキ液圧検出装置
ブレーキ液圧検出信号
特許出願人 日本電子工業株式会社
第２図
ｔ
第３図FIG. 1 is a block diagram showing the overall configuration of an embodiment of the road surface friction coefficient measuring device according to claim 1, and FIG. 2 is a block diagram showing the overall configuration of an embodiment of the road surface friction coefficient measuring device according to claim 1. Graphs showing operations in an embodiment of the device, in which (a) is a graph showing changes in oil pressure P over time according to instructions from the control device;
(b) is a graph representing the detected road surface friction coefficient μ versus time, (c) is a graph representing the detected wheel speed ω versus time, and FIG. 3 is the road surface friction coefficient according to claim 2. FIG. 4 is a block diagram showing the overall configuration of an embodiment of the detection device; FIG. A graph showing changes in oil pressure P over time according to instructions from a control device,
(b) is a graph showing the detected road surface friction coefficient μ versus time, and (c) is a graph showing the detected wheel speed ω versus time. Brake pedal Master cylinder Brake hydraulic piping switching valve Brake pad Wheel control device equipped with standard tires Brake fluid pressure generator Signal indicating brake fluid pressure Road surface friction coefficient detection device Road surface friction coefficient detection signal Wheel speed detection device Wheel speed detection Signal Brake fluid pressure detection device Brake fluid pressure detection signal Patent applicant JEOL Ltd. Figure 2 t Figure 3
Claims (1)
標準タイヤを装備した車輪を少なくとも１個有し、当該
車輪の車軸若しくは車軸近傍に於て生じる歪を検出する
手段を備えた路面摩擦係数検出装置と、前記車輪の回転
速度検出装置と、前記車輪のブレーキ液圧を制御する制
御装置とを備え、車両走行時に於て当該制御装置がブレ
ーキ液圧を上昇下降させ、その間に路面摩擦係数検出装
置により検出される路面摩擦係数と車輪回転速度より路
面摩擦係数の最大値を演算して推定することを特徴とす
る路面摩擦係数計測装置。 ２、車両若しくは車両に牽引される第２の車両に於て、
標準タイヤを装備した車輪を少なくとも１個有し、当該
車輪の車軸若しくは車軸近傍に於て生じる歪を検出する
手段を備えた路面摩擦係数検出装置と、前記車輪のブレ
ーキ液圧を制御する制御装置と、当該ブレーキ液圧を検
出する装置を備え、車両走行時に於て前記制御装置がブ
レーキ液圧を上昇下降させ、その間に路面摩擦係数検出
装置により検出される路面摩擦係数とブレーキ液圧より
路面摩擦係数の最大値を演算して推定することを特徴と
する路面摩擦係数計測装置。 ３、特許請求の範囲第１、若しくは２項記載の路面摩擦
係数計測装置に於て、当該装置に備わる前記制御装置が
、ブレーキ液圧を段階的に変化若しくは上昇下降させる
、或は上昇下降を複数回反復させる、或は所定の圧力増
（減）勾配を持つブレーキ液圧をかける、或はこれらを
組み合わせて行うことにより、路面摩擦係数の最大値を
より精度良く演算して推定することを特徴とする路面摩
擦係数計測装置。[Claims] 1. In a vehicle or a second vehicle towed by the vehicle,
A road surface friction coefficient detection device having at least one wheel equipped with a standard tire and having means for detecting distortion occurring at or near the axle of the wheel; a rotational speed detection device for the wheel; The control device increases and decreases the brake fluid pressure while the vehicle is running, and during this time the brake fluid pressure is determined based on the road surface friction coefficient and wheel rotation speed detected by the road surface friction coefficient detection device. A road surface friction coefficient measuring device characterized by calculating and estimating a maximum value of a friction coefficient. 2. In the vehicle or a second vehicle towed by the vehicle,
A road surface friction coefficient detection device having at least one wheel equipped with a standard tire and equipped with means for detecting distortion occurring at or near the axle of the wheel; and a control device for controlling brake fluid pressure of the wheel. and a device for detecting the brake fluid pressure, and when the vehicle is running, the control device raises and lowers the brake fluid pressure, and during that time, the road surface is determined based on the road surface friction coefficient and the brake fluid pressure detected by the road surface friction coefficient detection device. A road surface friction coefficient measuring device characterized by calculating and estimating a maximum value of a friction coefficient. 3. In the road surface friction coefficient measuring device according to claim 1 or 2, the control device included in the device changes the brake fluid pressure stepwise or raises and lowers it, or raises and lowers the brake fluid pressure. The maximum value of the road surface friction coefficient can be calculated and estimated more accurately by repeating the process multiple times, applying brake fluid pressure with a predetermined pressure increase (decrease) gradient, or a combination of these. Features: Road surface friction coefficient measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2198294A JPH0654283B2 (en) | 1990-07-25 | 1990-07-25 | Road friction coefficient measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2198294A JPH0654283B2 (en) | 1990-07-25 | 1990-07-25 | Road friction coefficient measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0483147A true JPH0483147A (en) | 1992-03-17 |
| JPH0654283B2 JPH0654283B2 (en) | 1994-07-20 |
Family
ID=16388739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2198294A Expired - Fee Related JPH0654283B2 (en) | 1990-07-25 | 1990-07-25 | Road friction coefficient measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0654283B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108344683A (en) * | 2018-02-28 | 2018-07-31 | 刘剑 | A kind of surface friction coefficient detection device |
| CN108375541A (en) * | 2018-02-28 | 2018-08-07 | 刘剑 | A kind of road detection apparatus |
-
1990
- 1990-07-25 JP JP2198294A patent/JPH0654283B2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108344683A (en) * | 2018-02-28 | 2018-07-31 | 刘剑 | A kind of surface friction coefficient detection device |
| CN108375541A (en) * | 2018-02-28 | 2018-08-07 | 刘剑 | A kind of road detection apparatus |
| CN108375541B (en) * | 2018-02-28 | 2019-12-03 | 刘剑 | A kind of road detection apparatus |
| CN108344683B (en) * | 2018-02-28 | 2020-04-24 | 鲍菊芳 | Road surface friction coefficient detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0654283B2 (en) | 1994-07-20 |
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