FR2868843A1 - Motor vehicle`s longitudinal, lateral and angular acceleration determining device has identical acceleration sensors which are linear and placed tangentially to predetermined radiation circles - Google Patents
Motor vehicle`s longitudinal, lateral and angular acceleration determining device has identical acceleration sensors which are linear and placed tangentially to predetermined radiation circles Download PDFInfo
- Publication number
- FR2868843A1 FR2868843A1 FR0410765A FR0410765A FR2868843A1 FR 2868843 A1 FR2868843 A1 FR 2868843A1 FR 0410765 A FR0410765 A FR 0410765A FR 0410765 A FR0410765 A FR 0410765A FR 2868843 A1 FR2868843 A1 FR 2868843A1
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- France
- Prior art keywords
- sensors
- acceleration
- lateral
- linear
- longitudinal
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/0888—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values for indicating angular acceleration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
La présente invention concerne un dispositif et un procédé deThe present invention relates to a device and a method for
détermination de l'accélération longitudinale, latérale et angulaire d'un véhicule automobile. Plus particulièrement il s'agit de déterminer les composantes du vecteur accélération pour des systèmes de contrôle de la stabilité et / du freinage determining the longitudinal, lateral and angular acceleration of a motor vehicle. More specifically, it is a question of determining the components of the acceleration vector for stability and / or braking control systems
d'un véhicule automobile.of a motor vehicle.
Les véhicules automobiles actuellement commercialisés mettent en oeuvre de plus en plus de dispositifs électroniques reliés à une pluralité de capteurs, leur permettant de suivre en permanence le comportement réel du véhicule. Ces capteurs sont de tous types et suivent par exemple l'évolution de paramètres moteur (capteur d'arbre à came, sonde lambda...) mais aussi de paramètres liés à la dynamique du véhicule (capteur d'accélération, de vitesse, de positionnement...). Currently marketed motor vehicles implement more and more electronic devices connected to a plurality of sensors, allowing them to continuously monitor the actual behavior of the vehicle. These sensors are of all types and follow for example the evolution of engine parameters (camshaft sensor, lambda probe ...) but also parameters related to the vehicle dynamics (acceleration sensor, speed sensor, positioning...).
Dans le cadre des systèmes d'anti-blocage de roue, d'anti-patinage, de contrôle de la stabilité etc... il est utile de connaître l'accélération du véhicule selon trois axes, à savoir deux axes perpendiculaires se trouvant dans le plan du véhicule et un troisième axe perpendiculaire aux deux premiers. In the context of anti-lock wheel systems, anti-skid, stability control etc ... it is useful to know the acceleration of the vehicle along three axes, namely two perpendicular axes located in the plane of the vehicle and a third axis perpendicular to the first two.
A cet effet il est connu de munir le véhicule de deux capteurs d'accélération linéaires (pour déterminer les accélérations longitudinale et latérale) et d'un capteur d'accélération angulaire (encore appelé gyroscope) pour déterminer l'accélération angulaire. Ce type de dispositif fonctionne correctement mais présente un coût non négligeable, notamment du à la présence du capteur d'accélération angulaire. For this purpose it is known to provide the vehicle with two linear acceleration sensors (for determining longitudinal and lateral accelerations) and an angular acceleration sensor (also called a gyroscope) to determine the angular acceleration. This type of device works properly but has a significant cost, especially due to the presence of the angular acceleration sensor.
Le but de la présente invention est de réaliser une mesure des composantes de l'accélération longitudinale, latérale et angulaire en réduisant le 25 coût des capteurs nécessaires à cette mesure. The object of the present invention is to perform a measurement of the components of the longitudinal, lateral and angular acceleration by reducing the cost of the sensors required for this measurement.
A cet effet la présente invention concerne un dispositif de détermination de l'accélération longitudinale, latérale et angulaire d'un véhicule automobile, caractérisé en ce qu'il comporte: - une pluralité de capteurs d'accélérations, linéaires, sensiblement 30 identiques, placés tangentiellement à des cercles de rayon prédéterminés. For this purpose, the present invention relates to a device for determining the longitudinal, lateral and angular acceleration of a motor vehicle, characterized in that it comprises: a plurality of substantially identical linear accelerator sensors placed tangentially to predetermined circles of radius.
Ainsi la disposition des capteurs selon une configuration géométrique donnée permet de calculer la valeur des accélérations, longitudinale, latérale et angulaire à partir des valeurs mesurées par les capteurs. Ces capteurs ne donnent pas directement les accélérations recherchées mais permettent par un calcul relativement simple de retrouver ces valeurs. Thus the arrangement of the sensors according to a given geometric configuration makes it possible to calculate the value of the accelerations, longitudinal, lateral and angular from the values measured by the sensors. These sensors do not directly give the desired accelerations but allow by a relatively simple calculation to find these values.
Tout l'intérêt de l'invention réside dans le fait que les capteurs utilisés sont tous sensiblement identiques et peu onéreux. Grâce à la présente invention il est possible de réaliser avec des accéléromètres linéaires, disposés selon une configuration déterminée, la même mesure que ce qui nécessitait traditionnellement deux accéléromètres linéaires et un gyroscope. All the advantages of the invention lies in the fact that the sensors used are all substantially identical and inexpensive. With the present invention it is possible to achieve with linear accelerometers, arranged in a predetermined configuration, the same measurement that traditionally required two linear accelerometers and a gyroscope.
De manière préférentielle, on utilise trois capteurs linéaires placés à 120 (régulièrement espacés) le long d'un même cercle. Cette configuration permet de simplifier les calculs des équations trigonométriques pour déterminer les valeurs d'accélérations recherchées et également de minimiser les imprécisions de mesures de chacun des capteurs. Preferably, three linear sensors placed at 120 (regularly spaced) along the same circle are used. This configuration makes it possible to simplify the calculations of the trigonometric equations in order to determine the values of accelerations sought and also to minimize measurement inaccuracies of each of the sensors.
Avantageusement la présente invention permet de réduire le coût global du système de détermination de l'accélération longitudinale, latérale et angulaire d'un véhicule. Advantageously, the present invention makes it possible to reduce the overall cost of the system for determining the longitudinal, lateral and angular acceleration of a vehicle.
De manière avantageuse le dispositif selon l'invention est associé à un circuit de calcul adapté pour extraire les valeurs de l'accélération longitudinale, latérale et angulaire à partir des mesures effectuées par les trois capteurs. Advantageously, the device according to the invention is associated with a calculation circuit adapted to extract the values of the longitudinal, lateral and angular acceleration from the measurements made by the three sensors.
Ce circuit de calcul peut être analogique ou numérique, et être avantageusement celui déjà présent dans un dispositif d'anti-patinage, ou d'antiblocage des roues ou de contrôle de stabilité... This calculation circuit can be analog or digital, and advantageously be that already present in an anti-skid device, or anti-lock wheels or stability control ...
L'invention s'étend également à un procédé mettant en oeuvre un tel dispositif. The invention also extends to a method using such a device.
D'autres objets, avantages et caractéristiques de la présente invention ressortiront de la description qui suit, à titre d'exemple non limitatif et en référence à la figure 1 unique, représentant de manière schématique le dispositif selon l'invention. Other objects, advantages and features of the present invention will emerge from the description which follows, by way of nonlimiting example and with reference to Figure 1, showing schematically the device according to the invention.
Dans l'exemple représenté à la figure 1, trois capteurs d'accélération linéaire A, B et C sont disposés dans un véhicule en mouvement et sont régulièrement espacés le long d'un cercle de rayon r. L'écartement entre ces capteurs est donc de 120 . Ces trois capteurs sont sensiblement identiques. Ainsi les mesures qu'ils donnent sont entachés de la même erreur et peuvent être directement comparées. In the example shown in FIG. 1, three linear acceleration sensors A, B and C are arranged in a moving vehicle and are regularly spaced along a circle of radius r. The spacing between these sensors is therefore 120. These three sensors are substantially identical. Thus the measurements they give are tainted with the same error and can be directly compared.
Un calcul mathématique permet d'extraire des trois signaux VA, VB, VC issus des capteurs A, B et C les composantes Ax, Ay de l'accélération sur l'axe 5 des X et des Y ainsi que l'accélération angulaire AR. A mathematical calculation makes it possible to extract from the three signals VA, VB, VC coming from the sensors A, B and C the components Ax, Ay of the acceleration on the axis 5 of the X and Y as well as the angular acceleration AR.
En effet on a: pour l'axe X: Ax = * x (Vc VB pour l'axe Y: A,, =3 VB V,) , et pour l'accélération angulaire: AR = 1 x(VA+VB+V,) 3xr avec - VA, VB, Vc les valeurs du signal en sortie des capteurs A, B et C et - r rayon du cercle sur lequel sont placés les capteurs A, B, C. La disposition des accéléromètres en arc de cercle, dans le véhicule en mouvement, permet de retrouver par le calcul de manière relativement aisée chacune des composantes de l'accélération sans avoir à utiliser des capteurs spécifiques selon chacune des directions. Indeed we have: for the X axis: Ax = * x (Vc VB for the Y axis: A ,, = 3 VB V,), and for the angular acceleration: AR = 1 x (VA + VB + V,) 3xr with - VA, VB, Vc the values of the signal at the output of the sensors A, B and C and - r radius of the circle on which the sensors A, B, C are placed. The arrangement of the accelerometers in an arc , in the moving vehicle, allows to find by calculation in a relatively easy manner each of the components of the acceleration without having to use specific sensors in each direction.
Bien entendu, ces capteurs sont intégrés dans un même dispositif 20 assurant leur positionnement rigoureux. Of course, these sensors are integrated in the same device 20 ensuring their rigorous positioning.
On notera que les capteurs utilisés sont de type relativement courant et sont peu onéreux. Note that the sensors used are relatively common type and are inexpensive.
II est nécessaire que ces capteurs soient sensiblement identiques au niveau de leurs caractéristiques techniques afin de pouvoir comparer directement leur signal de sortie. Bien entendu, si cela n'était pas le cas, des coefficients de correction pourraient être calculés et appliqués à chaque signal de sortie. It is necessary that these sensors are substantially identical in their technical characteristics in order to directly compare their output signal. Of course, if this were not the case, correction coefficients could be calculated and applied to each output signal.
Il est à noter que la configuration décrite avec trois capteurs placés sur un même cercle à 120 permet également de minimiser les imprécisions de mesures de chaque capteurs. It should be noted that the configuration described with three sensors placed on the same circle at 120 also makes it possible to minimize measurement inaccuracies of each sensor.
On notera que le calcul permettant de retrouver les composantes Ax, Ay et AR de l'accélération peut-être effectué numériquement ou analogiquement par un circuit de calcul. Ce circuit de calcul peut être intégré dans le dispositif de détermination selon l'invention ou appartenir à un système d'anti-blocage des roues et/ou d'anti-patinage et/ou de contrôle de stabilité... associé au dispositif selon l'invention. Note that the calculation for finding the components Ax, Ay and AR of the acceleration can be performed numerically or analogically by a calculation circuit. This calculation circuit can be integrated in the determination device according to the invention or belong to a wheel anti-lock and / or anti-slip and / or stability control system associated with the device according to the invention. the invention.
La présente invention concerne également un procédé de détermination de l'accélération longitudinale Ax, latérale Ay et angulaire AR d'un véhicule automobile mettant en oeuvre le dispositif ci-dessus décrit. Ce procédé consiste notamment à : - extraire la valeur de l'accélération longitudinale Ax, latérale Ay, et 10 angulaire AR en fonction des valeurs de sorties (VA, VB, Vc,... V,) d'une pluralité d'accéléromètres linéaires (A, B, C...I). The present invention also relates to a method for determining the longitudinal acceleration Ax, lateral Ay and angular AR of a motor vehicle implementing the device described above. This method consists in particular in: extracting the value of the longitudinal acceleration Ax, lateral Ay, and angular angle AR as a function of the output values (VA, VB, Vc, ... V,) of a plurality of accelerometers linear (A, B, C ... I).
Dans le cas où trois capteurs sont utilisés et disposés régulièrement sur un même cercle, cette extraction est effectuée en appliquant les formules suivantes: Ax=-x(Vc-VR), A, =3x(2xVA-VR- AR = 1 x (VA + VB + Vc 3xr avec VA, B, c = valeurs en sortie du capteur A, B, C et, - r = rayon du cercle sur lequel sont placés les capteurs A, B, C. Il est à noter que la pluralité de capteurs peut ne pas être disposée le long de cercles de même centre mais être tout simplement non alignée. Dans ce cas le calcul des différentes accélérations recherchées est plus complexe car il existe un certain couplage entre les différentes mesures. Néanmoins cette disposition non alignée est également possible. In the case where three sensors are used and arranged regularly on the same circle, this extraction is carried out by applying the following formulas: Ax = -x (Vc-VR), A, = 3x (2xVA-VR-AR = 1 x ( VA + VB + Vc 3xr with VA, B, c = sensor output values A, B, C and, - r = radius of the circle on which the sensors A, B, C are placed. It should be noted that the plurality of sensors may not be arranged along circles of the same center but simply not aligned, in which case the calculation of the different accelerations sought is more complex because there is a certain coupling between the different measurements. also possible.
Bien entendu, la présente invention n'est pas limitée au mode de réalisation ci dessus décrit, mais englobe toute variante à la portée de l'homme du métier. Ainsi un nombre de capteurs supérieur à trois peut être utilisé. De même si la disposition des capteurs de manière régulière sur un cercle est une solution qui simplifie les équations de calcul, ces capteurs peuvent néanmoins être disposés de manière angulaire quelconque soit le long d'un même cercle, soit le long de différents cercles. En fait pour toute configuration géométrique donnée, il est possible d'exprimer les combinaisons permettant d'extraire les accélérations longitudinale Ax, latérale Ay et angulaire AR. Of course, the present invention is not limited to the embodiment described above, but encompasses any variant within the scope of the skilled person. Thus a number of sensors greater than three can be used. Similarly, if the arrangement of the sensors in a regular manner on a circle is a solution that simplifies the calculation equations, these sensors can nevertheless be arranged in any angular manner along the same circle or along different circles. In fact for any given geometrical configuration, it is possible to express the combinations making it possible to extract the longitudinal accelerations Ax, lateral Ay and angular AR.
Lorsqu'on utilise une configuration géométrique différente de celle décrite (avec trois capteurs) il est important cependant que les capteurs soient placés de manière tangentielle. When using a geometric configuration different from that described (with three sensors) it is important however that the sensors are placed tangentially.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0410765A FR2868843A1 (en) | 2004-10-13 | 2004-10-13 | Motor vehicle`s longitudinal, lateral and angular acceleration determining device has identical acceleration sensors which are linear and placed tangentially to predetermined radiation circles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0410765A FR2868843A1 (en) | 2004-10-13 | 2004-10-13 | Motor vehicle`s longitudinal, lateral and angular acceleration determining device has identical acceleration sensors which are linear and placed tangentially to predetermined radiation circles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| FR2868843A1 true FR2868843A1 (en) | 2005-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR0410765A Pending FR2868843A1 (en) | 2004-10-13 | 2004-10-13 | Motor vehicle`s longitudinal, lateral and angular acceleration determining device has identical acceleration sensors which are linear and placed tangentially to predetermined radiation circles |
Country Status (1)
| Country | Link |
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| FR (1) | FR2868843A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2899690A1 (en) * | 2006-04-10 | 2007-10-12 | Peugeot Citroen Automobiles Sa | Motor vehicle`s e.g. motorcycle, rate of yaw estimating system for use in e.g. electronic stability program system, has unit determining rate of yaw and longitudinal and transversal accelerations according to acceleration components |
| WO2009013666A2 (en) * | 2007-07-24 | 2009-01-29 | Nxp B.V. | Multi-axial sensor for determining displacement, velocity and acceleration of a linear or angular movement |
| WO2011144883A1 (en) * | 2010-05-19 | 2011-11-24 | Salisbury Nhs Foundation Trust | Accelerometer assembly and the use thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
| US5383363A (en) * | 1993-02-10 | 1995-01-24 | Ford Motor Company | Inertial measurement unit providing linear and angular outputs using only fixed linear accelerometer sensors |
| US5978972A (en) * | 1996-06-14 | 1999-11-09 | Johns Hopkins University | Helmet system including at least three accelerometers and mass memory and method for recording in real-time orthogonal acceleration data of a head |
| US6128955A (en) * | 1999-07-09 | 2000-10-10 | Mimura; Nobuharu | Method for measuring 6 degrees of freedom motion and device therefor |
| EP1151877A1 (en) * | 2000-05-03 | 2001-11-07 | Bayerische Motoren Werke Aktiengesellschaft | A method of determining a yaw acceleration |
-
2004
- 2004-10-13 FR FR0410765A patent/FR2868843A1/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
| US5383363A (en) * | 1993-02-10 | 1995-01-24 | Ford Motor Company | Inertial measurement unit providing linear and angular outputs using only fixed linear accelerometer sensors |
| US5978972A (en) * | 1996-06-14 | 1999-11-09 | Johns Hopkins University | Helmet system including at least three accelerometers and mass memory and method for recording in real-time orthogonal acceleration data of a head |
| US6128955A (en) * | 1999-07-09 | 2000-10-10 | Mimura; Nobuharu | Method for measuring 6 degrees of freedom motion and device therefor |
| EP1151877A1 (en) * | 2000-05-03 | 2001-11-07 | Bayerische Motoren Werke Aktiengesellschaft | A method of determining a yaw acceleration |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2899690A1 (en) * | 2006-04-10 | 2007-10-12 | Peugeot Citroen Automobiles Sa | Motor vehicle`s e.g. motorcycle, rate of yaw estimating system for use in e.g. electronic stability program system, has unit determining rate of yaw and longitudinal and transversal accelerations according to acceleration components |
| WO2009013666A2 (en) * | 2007-07-24 | 2009-01-29 | Nxp B.V. | Multi-axial sensor for determining displacement, velocity and acceleration of a linear or angular movement |
| WO2009013666A3 (en) * | 2007-07-24 | 2009-03-12 | Nxp Bv | Multi-axial sensor for determining displacement, velocity and acceleration of a linear or angular movement |
| US8397570B2 (en) | 2007-07-24 | 2013-03-19 | Nxp B.V. | Multi-axial linear and rotational displacement sensor |
| WO2011144883A1 (en) * | 2010-05-19 | 2011-11-24 | Salisbury Nhs Foundation Trust | Accelerometer assembly and the use thereof |
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