FR3036081B1 - Identification de l'inertie de lacet et de tangage de vehicule automobile - Google Patents

Identification de l'inertie de lacet et de tangage de vehicule automobile Download PDF

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Publication number
FR3036081B1
FR3036081B1 FR1554284A FR1554284A FR3036081B1 FR 3036081 B1 FR3036081 B1 FR 3036081B1 FR 1554284 A FR1554284 A FR 1554284A FR 1554284 A FR1554284 A FR 1554284A FR 3036081 B1 FR3036081 B1 FR 3036081B1
Authority
FR
France
Prior art keywords
tanging
lacet
inertia
identification
motor vehicle
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.)
Active
Application number
FR1554284A
Other languages
English (en)
Other versions
FR3036081A1 (fr
Inventor
Zhou Fang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR1554284A priority Critical patent/FR3036081B1/fr
Priority to EP16727532.0A priority patent/EP3294600A1/fr
Priority to PCT/FR2016/051079 priority patent/WO2016181058A1/fr
Publication of FR3036081A1 publication Critical patent/FR3036081A1/fr
Application granted granted Critical
Publication of FR3036081B1 publication Critical patent/FR3036081B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1315—Location of the centre of gravity
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1323—Moment of inertia of the vehicle body
    • B60W2040/1338—Moment of inertia of the vehicle body about the pitch axis
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1323—Moment of inertia of the vehicle body
    • B60W2040/1346—Moment of inertia of the vehicle body about the yaw axis
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0035—Multiple-track, 3D vehicle model, e.g. including roll and pitch conditions
    • 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
    • B60W2422/00—Indexing codes relating to the special location or mounting of sensors
    • B60W2422/80—Indexing codes relating to the special location or mounting of sensors on wheel hub bearing
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/22—Suspension systems
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/30—Wheel torque
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
FR1554284A 2015-05-13 2015-05-13 Identification de l'inertie de lacet et de tangage de vehicule automobile Active FR3036081B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1554284A FR3036081B1 (fr) 2015-05-13 2015-05-13 Identification de l'inertie de lacet et de tangage de vehicule automobile
EP16727532.0A EP3294600A1 (fr) 2015-05-13 2016-05-09 Identification de l'inertie de lacet et de tangage de véhicule automobile
PCT/FR2016/051079 WO2016181058A1 (fr) 2015-05-13 2016-05-09 Identification de l'inertie de lacet et de tangage de véhicule automobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1554284A FR3036081B1 (fr) 2015-05-13 2015-05-13 Identification de l'inertie de lacet et de tangage de vehicule automobile
FR1554284 2015-05-13

Publications (2)

Publication Number Publication Date
FR3036081A1 FR3036081A1 (fr) 2016-11-18
FR3036081B1 true FR3036081B1 (fr) 2018-10-26

Family

ID=53776764

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1554284A Active FR3036081B1 (fr) 2015-05-13 2015-05-13 Identification de l'inertie de lacet et de tangage de vehicule automobile

Country Status (3)

Country Link
EP (1) EP3294600A1 (fr)
FR (1) FR3036081B1 (fr)
WO (1) WO2016181058A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5136513A (en) 1990-06-11 1992-08-04 Ford Motor Company Vehicle inertia and center of gravity estimator
DE102006009680A1 (de) * 2006-03-02 2007-09-06 Bayerische Motoren Werke Ag Fahrdynamik-Regelsystem eines zweispurigen Fahrzeugs
JP2008265545A (ja) 2007-04-20 2008-11-06 Toyota Motor Corp 車両の重心位置推定装置及び重心位置／ヨー慣性モーメント推定装置。
WO2008138067A1 (fr) * 2007-05-15 2008-11-20 University Of Technology, Sydney Procédé et système pour estimer des paramètres d'un véhicule
FR2918337B1 (fr) 2007-07-02 2009-08-21 Renault Sas Procede d'identification du moment d'inertie vertical et des rigidites de derive d'un vehicule automobile
FR2930923A1 (fr) * 2008-05-07 2009-11-13 Renault Sas Procede de controle d'un systeme de pilotage du comportement dynamique d'une caisse de vehicule automobile
FR2932140A3 (fr) * 2008-06-10 2009-12-11 Renault Sas Vehicule dote d'un systeme de freinage et procede de commande d'un tel vehicule

Also Published As

Publication number Publication date
EP3294600A1 (fr) 2018-03-21
WO2016181058A1 (fr) 2016-11-17
FR3036081A1 (fr) 2016-11-18

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