(19)
(11) EP 3 562 725 B8

(12) CORRECTED EUROPEAN PATENT SPECIFICATION
Note: Bibliography reflects the latest situation

(15) Correction information:
Corrected version no 1 (W1 B1)

(48) Corrigendum issued on:
23.02.2022 Bulletin 2022/08

(45) Mention of the grant of the patent:
12.01.2022 Bulletin 2022/02

(21) Application number: 17844575.5

(22) Date of filing: 13.01.2017
(51) International Patent Classification (IPC): 
B60W 40/068(2012.01)
 B60W 50/00(2006.01)
(52) Cooperative Patent Classification (CPC):
B60W 40/068; G01C 21/3407; B60W 2050/0088; B60W 2050/0028; B60W 2050/0024; B60W 2520/10; B60W 2520/12; B60W 2540/10; B60W 2540/12; B60W 2540/18; B60W 2556/50; B60W 2050/0075; B60W 2556/10
(86) International application number:
PCT/CN2017/071108
(87) International publication number:
WO 2018/129711 (19.07.2018 Gazette 2018/29)

(54)

METHOD AND SYSTEM FOR DETERMINING ROAD FRICTIONS OF AUTONOMOUS DRIVING VEHICLES USING LEARNING-BASED MODEL PREDICTIVE CONTROL

VERFAHREN UND SYSTEM ZUR ERMITTLUNG VON FAHRBAHNREIBUNGEN AUTONOM FAHRENDER FAHRZEUGE MIT LERNBASIERTER MODELLPRÄDIKTIVER STEUERUNG

PROCÉDÉ ET SYSTÈME POUR DÉTERMINER LES FROTTEMENTS DE ROUTE DE VÉHICULES À CONDUITE AUTONOME À L'AIDE D'UNE COMMANDE PRÉDICTIVE DE MODÈLE BASÉE SUR L'APPRENTISSAGE

(84) Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(43) Date of publication of application:
06.11.2019 Bulletin 2019/45

(73) Proprietor: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.
Haidian District Beijing 100085 (CN)

(72) Inventors:
  • LUO, Qi
    Sunnyvale, CA 94089 (US)
  • ZHU, Fan
    Sunnyvale, CA 94089 (US)
  • HU, Sen
    Sunnyvale, CA 94089 (US)
  • KONG, Qi
    Sunnyvale, CA 94089 (US)
  • YU, Xiang
    Sunnyvale, CA 94089 (US)
  • ZHU, Zhenguang
    Sunnyvale, CA 94089 (US)
  • PAN, Yuchang
    Sunnyvale, CA 94089 (US)
  • YANG, Wenli
    Sunnyvale, CA 94089 (US)
  • YANG, Guang
    Sunnyvale, CA 94089 (US)

(74) Representative: V.O. 
P.O. Box 87930 Carnegieplein 5
2508 DH Den Haag
2508 DH Den Haag (NL)


(56) References cited: : 
EP-A1- 3 037 314
WO-A1-2014/148989
 EP-B1- 1 495 904
CN-A- 104 890 595
   
  • Yiqin Mao, Johannes Karidas, Chrisoph Arndt et al: "Beobachtung von Fahrzeugzuständen der Querdynamik mit integrierter Reibwertschätzung", , vol. ATZ 5/2007, no. Jahrgang 109 1 May 2007 (2007-05-01), XP002799892, Retrieved from the Internet: URL:https://link.springer.com/content/pdf/ 10.1007/BF03221891.pdf [retrieved on 2020-07-30]
  • Jan Erik Stellet, Andre Suchaneck, Martin Giessler et al: "Fahrbahnreibwertschätzung mit optimaler linearer Parametrierung", , vol. Automatisierungstecehnik 2014;62(8) 1 May 2014 (2014-05-01), pages 570-581, XP002799893, Retrieved from the Internet: URL:http://jstc.de/paper/at14_Tire_road_fr iction_estimation.pdf [retrieved on 2020-07-30]
   
Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).