EP3737571A1 - Verfahren zur ermittlung der aktuellen fahrbahnrauhigkeit in einem fahrzeug - Google Patents
Verfahren zur ermittlung der aktuellen fahrbahnrauhigkeit in einem fahrzeugInfo
- Publication number
- EP3737571A1 EP3737571A1 EP18803908.5A EP18803908A EP3737571A1 EP 3737571 A1 EP3737571 A1 EP 3737571A1 EP 18803908 A EP18803908 A EP 18803908A EP 3737571 A1 EP3737571 A1 EP 3737571A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- determined
- roughness
- tire
- amplitude
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000001419 dependent effect Effects 0.000 claims abstract description 11
- 230000003746 surface roughness Effects 0.000 claims description 22
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 description 7
- 150000001875 compounds Chemical class 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000010972 statistical evaluation Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
Classifications
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
- B60C23/065—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle by monitoring vibrations in tyres or suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- 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
- 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
- B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/984—Tyre Pressure Monitoring Systems
-
- 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
- B60T2210/14—Rough roads, bad roads, gravel roads
-
- 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
- B60W2552/35—Road bumpiness, e.g. potholes
-
- 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
Definitions
- the invention relates to a method for determining the current
- the coefficient of friction between the tire and the road surface is different
- Rubber compound and the surface condition of the road count depends on the moisture state of the road surface and the microroughness, which essentially determines the toothing effect between the tire and the road surface.
- the current road surface roughness of the road on which the vehicle travels can be determined in a vehicle.
- the road surface roughness can be determined while the vehicle is running.
- the basis for determining the road surface roughness is the sensory detection of the speed of a wheel and the analysis of the course of the wheel
- the speed of the wheel is preferably via a
- Speed sensor determines, from the course of the speed and the
- Rotational speed of the wheel can be determined.
- a frequency-dependent amplitude response is determined on the basis of the recorded speed by means of the frequency analysis.
- the amplitude response represents the frequency-dependent amplitude of the wheel or the tire, wherein the basic course of the amplitude response is specific to the tire and depends on the tire air pressure and the tire wear condition.
- the basic course of the amplitude response has a maximum in the region of a resonance frequency.
- the basic course of the amplitude response is superimposed on a high-frequency oscillation, which is due to suggestions by the road surface roughness.
- the high-frequency oscillation in the basic course of the amplitude response typically has a significantly smaller amplitude than the basic curve. From this high-frequency oscillation, which represents a deviation from the basic course of the amplitude response, becomes a statistical method
- Roughness parameter determined which represents a measure of the road surface roughness.
- the method according to the invention it is thus possible to determine a roughness parameter that characterizes the road surface roughness while driving solely on the basis of the information of a rotational speed sensor.
- the roughness parameter can then be further processed in the vehicle, in particular for controlling a vehicle unit, which influences the driving dynamics of the vehicle, for example the
- the road surface roughness significantly determines the
- the surface texture determines the coefficient of friction between the tire and the road surface.
- the road surface roughness therefore has a determining influence on the coefficient of friction, it being possible, if necessary, to deduce the coefficient of friction when the road surface roughness is known, in particular with additional knowledge of the current road surface moisture and knowledge of the structure of the tire carcass and the rubber compound. Since the latter two influencing factors for the respectively raised Tire type are known per se and the road surface moisture from further sensor information in the vehicle can at least be estimated, the coefficient of friction between the tire and the road surface can be determined with the inventive determination of the road surface roughness.
- a roughness parameter which is determined for example by statistical evaluation of the basic course of the amplitude response superimposed high-frequency oscillation, in particular the amplitude variance of the amplitude response or the superimposed oscillation is considered.
- Amplitude variance can be determined from the frequency-dependent amplitude response using mathematical methods known per se.
- Amplitude variance represents the roughness characteristic that accurately reflects the actual roughness of the road surface.
- Amplitude response is, can also be determined with the variance related parameters and taken into account, for example, the standard deviation. Furthermore, it is additionally or alternatively possible to determine another statistical roughness parameter, for example the maximum deviation of the high-frequency oscillation from the basic profile of the amplitude response.
- the roughness parameter is in
- the resonance point represents a maximum in the frequency-dependent amplitude response and is indicative of the type of tire used, from whose speed the amplitude response is determined.
- the roughness parameter can be selected from the amplitude response with the highest
- the amplitude response within a frequency spectrum around the resonance point for the determination of the road surface roughness is considered.
- the roughness parameter is both directly in the resonance point as well as in adjacent areas of the
- the roughness parameter is related to a tire-typical reference value.
- a relative size By reference on the reference value one obtains a relative size, which for the current one
- Tire type has validity. By reference to the tire-typical reference value, a normalization of the roughness parameter is achieved.
- a pressure loss in the tire leads to a shift in the course of the amplitude gear towards lower frequencies, wherein from the shift amount on the pressure loss can be concluded. From the speed curve thus both the pressure loss in the tire and the road surface roughness can be determined.
- each vehicle wheel or at least more than one vehicle wheel is assigned a speed sensor, via which the rotational speed of the wheel is determined. This makes it possible to determine a plurality of frequency-dependent amplitude responses and to determine a respective roughness parameter therefrom. By the achieved redundancy, a higher level of security can be achieved in the determination of the road surface roughness.
- influencing vehicle unit such as brake system, drive system,
- the activation of the active vehicle unit may optionally take place within the framework of a driver assistance system.
- control unit optionally control or actuating signals can be generated to the driving dynamics
- the invention further relates to a vehicle having at least one speed sensor on a vehicle wheel, at least one of the vehicle dynamics influencing vehicle unit and with a prescribed control device for performing the method.
- Fig. 3 is a flowchart for determining the current road surface roughness in the vehicle.
- a vehicle wheel 1 is shown with a tire 2 on a rim 3, wherein the vehicle wheel 1 is suspended from a suspension 4, which is designed as a spring damper system.
- the vehicle wheel 1 moves on a
- Lane 5 which has a relatively strong road surface roughness.
- the road surface roughness of the roadway 5 leads to a vertical excitation of the vehicle wheel 1 during driving.
- the vehicle wheel 1 may be mounted on a motorized bicycle or on a motor vehicle.
- the speed of the vehicle wheel 1 is determined by means of a speed sensor, wherein from the course of the speed by frequency analysis, a frequency-dependent amplitude response shown in Fig. 2 can be determined.
- FIG. 2 shows, as a function of the frequency, a desired amplitude response 6 and an actual amplitude response 7, which is shifted in the direction of lower frequencies compared to the desired amplitude response 6.
- the amplitude responses depend on the type of tire used.
- the shift between desired amplitude response 6 and actual amplitude response 7 comes about by a pressure loss in the tire 2.
- a resonance region 8 is marked with a dashed line, within which the resonance points are located with a maximum of both the desired amplitude response 6 and the actual amplitude response 7.
- the amplitude variance of the actual amplitude response 7 in the resonance region 8 is determined using the flowchart according to FIG. 3.
- the wheel speed of the vehicle wheel 1 is determined by means of the speed sensor 9 and supplied to a control unit 10 in the vehicle as an input, in which the sensor data of the speed sensor 9 are evaluated.
- the control unit 10 is from the speed of the
- Speed sensor 9 is determined in a first evaluation step 11 of the frequency-dependent actual amplitude response.
- the amplitude variance is determined, specifically for the high-frequency
- the amplitude variance represents a roughness parameter, which is related to a tire-typical reference value 14, resulting in a normalized roughness parameter, which is available at the output of the control unit 10 and can be used in a vehicle unit 13, which has an influence on the driving dynamics of Vehicle has.
- the vehicle unit 13 is an example of the brake system, the drive system, the steering system or an active suspension unit.
- the standardized road surface roughness can in particular with regard to
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018200330.0A DE102018200330A1 (de) | 2018-01-11 | 2018-01-11 | Verfahren zur Ermittlung der aktuellen Fahrbahnrauhigkeit in einem Fahrzeug |
PCT/EP2018/080703 WO2019137658A1 (de) | 2018-01-11 | 2018-11-08 | Verfahren zur ermittlung der aktuellen fahrbahnrauhigkeit in einem fahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3737571A1 true EP3737571A1 (de) | 2020-11-18 |
Family
ID=64332026
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18803908.5A Withdrawn EP3737571A1 (de) | 2018-01-11 | 2018-11-08 | Verfahren zur ermittlung der aktuellen fahrbahnrauhigkeit in einem fahrzeug |
Country Status (6)
Country | Link |
---|---|
US (1) | US11472412B2 (de) |
EP (1) | EP3737571A1 (de) |
JP (1) | JP7018512B2 (de) |
CN (1) | CN111565945A (de) |
DE (1) | DE102018200330A1 (de) |
WO (1) | WO2019137658A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018132865A1 (de) * | 2018-12-19 | 2020-06-25 | Thyssenkrupp Ag | Verfahren zur Bestimmung eines Lenkgefühls eines Steer-by-Wire-Lenksystems |
KR102353971B1 (ko) * | 2020-08-10 | 2022-01-20 | 이진숙 | 그루브 조인트 |
CN112406880B (zh) * | 2020-11-23 | 2022-03-22 | 哈尔滨工业大学 | 一种路表空间曲面平整度的计算方法 |
US20230117152A1 (en) * | 2021-10-18 | 2023-04-20 | Kawasaki Motors, Ltd. | Control requirement determiner, rough terrain vehicle, and control requirement determining method |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19537257A1 (de) * | 1994-10-14 | 1996-04-18 | Volkswagen Ag | Verfahren zur Ermittlung des physikalischen Profils einer Fahrbahnoberfläche |
DE19543928C2 (de) * | 1995-11-24 | 1997-09-04 | Daimler Benz Ag | Verfahren zur frühzeitigen Erkennung des Aufschwimmens eines Fahrzeugreifens auf nasser Fahrbahn |
EP0925960A3 (de) | 1997-12-15 | 2004-06-09 | Denso Corporation | Gerät zur Reifendruckabschätzung |
JP3769435B2 (ja) * | 1999-11-05 | 2006-04-26 | 株式会社豊田中央研究所 | 路面摩擦状態推定装置 |
JP2001334921A (ja) * | 2000-05-30 | 2001-12-04 | Fuji Heavy Ind Ltd | 車両の路面摩擦係数推定装置 |
EP1457388B1 (de) * | 2001-12-21 | 2015-01-21 | Kabushiki Kaisha Bridgestone | Verfahren und vorrichtung zum abschätzen des fahrbahn- und reifenlaufzustands |
JP4220929B2 (ja) * | 2004-04-28 | 2009-02-04 | 独立行政法人科学技術振興機構 | 路面平坦性測定装置 |
DE102009012128B4 (de) * | 2009-03-06 | 2019-09-05 | Volkswagen Ag | Verfahren zum Bestimmen einer Rauigkeit einer Fahrbahnoberfläche für ein Fahrzeug |
JP4830015B2 (ja) | 2009-11-10 | 2011-12-07 | 住友ゴム工業株式会社 | タイヤ空気圧低下検出装置及び方法、並びにタイヤの空気圧低下検出プログラム |
RU2519002C2 (ru) * | 2012-09-10 | 2014-06-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Юго-Западный государственный университет" (ФГБОУВПО ЮЗГУ) | Способ диагностики ровности поверхности дорожного покрытия |
US9751533B2 (en) * | 2014-04-03 | 2017-09-05 | The Goodyear Tire & Rubber Company | Road surface friction and surface type estimation system and method |
WO2015188930A1 (en) | 2014-06-09 | 2015-12-17 | Nira Dynamics Ab | Detection of short term irregularities in a road surface |
JP2019006351A (ja) * | 2017-06-28 | 2019-01-17 | 株式会社ブリヂストン | 路面状態推定方法及び路面状態推定装置 |
WO2019122218A1 (en) * | 2017-12-20 | 2019-06-27 | Nira Dynamics Ab | Determining a tire pressure status in a vehicle |
-
2018
- 2018-01-11 DE DE102018200330.0A patent/DE102018200330A1/de active Pending
- 2018-11-08 US US16/765,859 patent/US11472412B2/en active Active
- 2018-11-08 CN CN201880086129.5A patent/CN111565945A/zh active Pending
- 2018-11-08 EP EP18803908.5A patent/EP3737571A1/de not_active Withdrawn
- 2018-11-08 WO PCT/EP2018/080703 patent/WO2019137658A1/de unknown
- 2018-11-08 JP JP2020536755A patent/JP7018512B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
US20200361475A1 (en) | 2020-11-19 |
DE102018200330A1 (de) | 2019-07-11 |
JP7018512B2 (ja) | 2022-02-10 |
JP2021507851A (ja) | 2021-02-25 |
WO2019137658A1 (de) | 2019-07-18 |
US11472412B2 (en) | 2022-10-18 |
CN111565945A (zh) | 2020-08-21 |
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