GB2510672A - Maintaining ride comfort by adapting vehicle speed according to road roughness - Google Patents

Maintaining ride comfort by adapting vehicle speed according to road roughness Download PDF

Info

Publication number
GB2510672A
GB2510672A GB1321179.2A GB201321179A GB2510672A GB 2510672 A GB2510672 A GB 2510672A GB 201321179 A GB201321179 A GB 201321179A GB 2510672 A GB2510672 A GB 2510672A
Authority
GB
United Kingdom
Prior art keywords
vehicle
road
sensors
ride comfort
roughness values
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Withdrawn
Application number
GB1321179.2A
Other versions
GB201321179D0 (en
Inventor
Arun Krishnamurthy
Chengappa Poonacha
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.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
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 Daimler AG filed Critical Daimler AG
Priority to GB1321179.2A priority Critical patent/GB2510672A/en
Publication of GB201321179D0 publication Critical patent/GB201321179D0/en
Publication of GB2510672A publication Critical patent/GB2510672A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
    • 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
    • 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
    • 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
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/06—Active Suspension System
    • 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
    • B60W2520/10—Longitudinal 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Method and device for improving vehicle ride comfort, uses sensor(s) 1 directed obliquely to the road surface to detect road condition / roughness. An evaluation and control unit compares detected road surface condition value with predetermined reference value, and adjusts vehicle velocity to maintain a predetermined ride comfort parameter. Sensor inclination angle is adjusted as a function of current or maximum vehicle velocity. Sensor(s) 1 may pivot about a horizontal axis, and may be mounted on either side of the front of the roof. The ride comfort parameter may be set according to chassis adjustment of vehicle. Sensor(s) 1 may be ultrasonic / radar / infrared / optical. An output display may connect to the evaluation and control unit to indicate deviation between detected road roughness value and predetermined road roughness value.

Description

Device and Method to Derive Optimum Speed of Vehicle for Comfortable Ride The present invention relates to a method for improving the ride comfort of a vehicle during driving operation set forth in claim 1 and a device implementing the method set forth in claim 5.
Great efforts have been made lately in order to improve the ride comfort of a vehicle during driving operation, since bad road conditions have a strong effect not only upon the driving occupants in the vehicle but also on the life span of the vehicle itself. Moreover, a comfortable ride adapted to an optimum speed and undercarriage adjustment means also optimum safety at which the vehicle can move based on the road condition for comfortable ride of the passenger.
Several conventional suspension control systems have been designed which are adaptable to the current road conditions during driving operation of the vehicles while the systems are controlled by evaluation and control units, which process data received from a plurality of sensors including sensors for detecting the current road surface condition.
But the majority of the proposed solutions consider only road conditions that are sensed in the immediate vicinity of the vehicle in motion or sense only the effects of the road conditions on the chassis and the undercarriage, respectively, the undercarriage of the vehicle.
In view of the above-described circumstances, an object of the present invention is to provide and a device for a vehicle which enables an excellent ride quality and excellent running stability to be obtained even when the vehicle is running on a bad road.
Accordingly, the object of the invention is solved using a method for improving the ride comfort of a vehicle during driving operation of the vehicle by means of one or more sensors detecting a current road condition in terms of road roughness values, and feeding the road roughness values into an evaluation and control unit where the detected road roughness values are compared with a predetermined reference value, whereby in case of a deviation the velocity of the vehicle is adjusted in such a way that a predetermined ride comfort parameter can be maintained, by setting automatically an inclination angle of the one or more sensors, which are directed obliquely to the surface in front of the road, as a function of the current velocity or a maximum velocity of the vehicle. Due to a variable inclination angle of the sensors, which can identify obstacles or any unevenness of the road ahead of the vehicle, an adjustment of the velocity can be made before crossing over the identified unevenness of the road. Thus, road conditions such as uneven road surfaces, potholes, humps, external bodies, and obstacles can therefore be identified in advance and a possible negative impact upon the vehicle, caused by the obstacles avoided. Therefore, an increase in ride comfort goes along with an optimization of the safety of the passengers.
In a preferred embodiment of the invention the one or more sensors is/are pivoted at least about a horizontal axis, thereby the viewable area may be increased.
In another preferred embodiment of the invention the ride comfort parameter is set according to a chassis adjustment of the vehicle. Setting the right ride comfort parameter is very important with respect to the maximum velocity that can be reached without damaging the vehicle or putting in danger the passengers therein. The chassis adjustment is directly associated with the parameters for comfortable ride such as natural frequency, forced frequency, modes of vibration, stiffness, damping of vehicle indicating a passenger comfort index, which is obtained by actual practical testing of the vehicle itself.
In a further embodiment of the invention the one or more sensors used for detecting the current road condition are ultrasonic and/or radar and/or infrared and/or optical sensors.
These sensors allow for identifying a current road condition even if a driver of the vehicle is not able to see the obstacles ahead, because situations in which the driver's visibility is affected either by high beam headlights of other vehicles, direct sunlight hitting the eyes, fog, heavy rain or any other such conditions influencing negatively the driver's visibility.
Another aspect of the invention concerns a device for improving the right comfort of a vehicle during driving operation comprising: One or more sensors detecting a current road condition in terms of road roughness values, and an evaluation and control unit where the detected road roughness values are fed into and compared with a predetermined reference value, whereby in case of a deviation of the road roughness values from the predetermined reference value the velocity of the vehicle is adjusted in such a way that the predetermined ride comfort parameter can be maintained by setting automatically an inclination angle of the one or more sensors, which are directed obliquely to the surface in front of the road, as a function of the current velocity or a maximum velocity of the vehicle. The resulting advantages are directly derivable from the above-described method.
In another advantageous embodiment the device includes an output display connected to the evaluation and control unit for indicating the deviation of the road roughness values from the predetermined reference values -to a driver of the vehicle. Thereby a driver can be warned and adapt to the automatic response of the vehicle whose sensors identified an obstacle.
In a preferred embodiment of the invention the one or more sensors are mounted pivotally on one or either side of the roof at the front part of the vehicle. Arranging the sensors for instance above the windshield, the region of vision of the transmitting sensor will be the same as that of the driver's eyes. Similarly, the angle of the transmitting sensor is varied automatically according to the speed vehicle as well as do the driver's eyes.
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments thereof, taken in conjunction with the accompanying drawing.
The single/only figure by means of a sketch shows a vehicle which is equipped with a device according to one advantageous embodiment of the invention comprising two sensors 1 -only one of which is shown -acting as e.g. radar, laser gun, or similar telemetry devices installed on either side of the root of the vehicle to send a signal 2 and at least one receiver, e.g. antenna for receiving the transmitted signal 2-not shown. The transmitters are preferably arranged at a position just above the windshield in order to correspond to a driver's view. The sensors 1 -transmitters and receivers -are pivotally mounted. Thus, they can be inclined by a predetermined angle e in correspondence to a predetermined velocity V towards a road 3 surface in front of the vehicle in order to detect the current road condition during driving operation of the vehicle.
This means, that at a lower velocity V the angle S of inclination of the signal 2 is higher and thus giving the output of the road condition of a nearby region of the vehicle. On the other hand, at a high velocity V of the vehicle, the angle of inclination of the signal 2 is lesser thus giving the output of the road condition of a far region in front of the vehicle.
The two conditions of the lower or larger angular e range facilitate to derive an optimum response while braking/accelerating the vehicle.
The sensors 1 -transmitters and receivers -are connected to an electronic control unit which in turn is connected to an output display arranged in a dash board of the vehicle.
The sensors 1 detect the current road condition in terms of road roughness values which are fed into an evaluation and control unit where the detected road roughness values are compared with predetermined reference values. The road roughness parameters are conditioned parameters used to measure deviations from an intended longitudinal profile of a road surface with characteristics that affect vehicle dynamics, ride quality and dynamic pavement loading. The reference values themselves are derived from a function considering parameters for comfortable ride such as: Natural frequency, forced frequency, modes of vibration, stiffness, and damping of the vehicle in accordance to a passenger comfort index which is obtained by practical/real testing of the vehicle.
According to the figure the sensors 1 transmit a signal 2 and the antenna receives the signal 2 reflected by the road 3. Under normal circumstances, in which the road conditions are good, a nominal cycle time of the signal 2 corresponds to a distance dl, d2 which the signal 2 is travelling while leaving the transmitter and being received by the receiver of the sensor 1. In case of a bad road condition with e.g. humps 4, obstacles 4, potholes etc. the cycle time corresponds to the run through distance d3 of the signal 2.
The distances dl, d2, d3 are distances corresponding to location-based Snapshots A, B and C of the vehicle during driving operation of the vehicle. As long as the distances dl, d2 dn correspond to a predefined ride comfort parameter, no acceleration or braking of the vehicle is necessary. If the distance d3 does not correspond to the predefined ride comfort parameter the velocity of the vehicle is adjusted in such a way, that the predetermined ride comfort parameter can be maintained. This can happen by automatic intervention of the evaluation and control unit, accelerating or braking the vehicle. In a preferred embodiment of the invention an intervention, or need for an intervention, detected by the evaluation and control unit is displayed on the dashboard in the vehicle in order to inform the driver. This is especially necessary in such cases in which the driver's visibility is limited due to surrounding climatic conditions like rain or fog or affected by direct sunlight or high beam headlights of other vehicles.
The output indicates the driver and optimum velocity at or below which the passenger will have a comfortable ride. Moreover, sudden shocks to vehicle are avoided and accidents are prevented.
List of References 1 sensor 2 signal 3 road 4 obstacle A, B, C location-based Snapshots dl, d2, d3 distance

Claims (7)

  1. Claims A method for improving the ride comfort of a vehicle during driving operation of said vehicle by means of one or more sensors (1) detecting a current road condition in terms of road roughness values, and feeding said road roughness values into an evaluation and control unit where said detected road roughness values are compared with a predetermined reference value, whereby in case of a deviation of said road roughness values from said predetermined reference value the velocity (V) of said vehicle is adjusted in such a way that a predetermined ride comfort parameter can be maintained, by setting automatically an inclination angle(S) of said one or more sensors (1), which are directed obliquely to the surface in front of a road (3), as a function of the current velocity (V) or a maximum velocity (V) of said vehicle.
  2. 2. The method according to claim 1 characterized in that said one or more sensors (1) is/are pivoted at least about a horizontal axis.
  3. 3. The method according to claim 1 or 2 characterized in that said ride comfort parameter is set according to a chassis adjustment of said vehicle.
  4. 4. The method according to any one of claims 1 to 3 characterized in that said one or more sensors (1) used for detecting the current road condition are ultrasonic and/or radar and/or infrared and/or optical sensors.
  5. 5. A device for improving the ride comfort of a vehicle during driving operation comprising: one or more sensors (1) detecting a current road condition in terms of road roughness values, and an evaluation and control unit where said detected road roughness values are fed into and compared with a predetermined reference value, whereby in case of a deviation of said road roughness values from said predetermined reference value the velocity (V) of said vehicle is adjusted in such way that a predetermined ride comfort parameter can be maintained by setting automatically an inclination angle (0) of said one or more sensors (1), which are directed obliquely to the surface in front of a road (3), as a function of the current velocity (V) or a maximum velocity (V) of said vehicle.
  6. 6. The device according to claim 5 characterized in that said device includes an output display connected to said evaluation and control unit for indicating the deviation of said road roughness values from said predetermined reference value.
  7. 7. The device according to claim 6 or 7 characterized in that said one or more sensors (1) are mounted pivotally on one or either side of the roof at the front part of said vehicle.
GB1321179.2A 2013-12-02 2013-12-02 Maintaining ride comfort by adapting vehicle speed according to road roughness Withdrawn GB2510672A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB1321179.2A GB2510672A (en) 2013-12-02 2013-12-02 Maintaining ride comfort by adapting vehicle speed according to road roughness

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1321179.2A GB2510672A (en) 2013-12-02 2013-12-02 Maintaining ride comfort by adapting vehicle speed according to road roughness

Publications (2)

Publication Number Publication Date
GB201321179D0 GB201321179D0 (en) 2014-01-15
GB2510672A true GB2510672A (en) 2014-08-13

Family

ID=49979611

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1321179.2A Withdrawn GB2510672A (en) 2013-12-02 2013-12-02 Maintaining ride comfort by adapting vehicle speed according to road roughness

Country Status (1)

Country Link
GB (1) GB2510672A (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2523092A (en) * 2014-02-12 2015-08-19 Jaguar Land Rover Ltd A system for use in a vehicle
GB2525839A (en) * 2014-02-18 2015-11-11 Jaguar Land Rover Ltd Method of and system for collecting data relating to road irregularities
CN108099897A (en) * 2017-11-17 2018-06-01 浙江吉利汽车研究院有限公司 Cruise control method, apparatus and system
CN108151681A (en) * 2017-11-23 2018-06-12 中国第汽车股份有限公司 A kind of vehicle-mounted road surface unevenness identifying system and method based on binocular camera
CN109263636A (en) * 2018-08-31 2019-01-25 深圳市易成自动驾驶技术有限公司 Speed adjusting method, device and computer readable storage medium
CN109476310A (en) * 2016-12-30 2019-03-15 同济大学 A kind of automatic Pilot method for controlling driving speed based on comfort level
CN109583776A (en) * 2018-12-05 2019-04-05 百度在线网络技术（北京）有限公司 A kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle
EP3974233A1 (en) 2020-09-25 2022-03-30 Volkswagen Ag Road-based motor vehicle, database and method for driving a current collector of a road-based motor vehicle
DE102020212069A1 (en) 2020-09-25 2022-03-31 Volkswagen Aktiengesellschaft Road-guided motor vehicle with at least one pantograph for at least one overhead line and method for controlling a pantograph
CN115257554A (en) * 2022-06-14 2022-11-01 北京航星传动科技有限公司 Sensor position control device for vehicle, method, computer device, and medium

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107323454B (en) * 2017-08-03 2023-07-14 鄂尔多斯市普渡科技有限公司 Unmanned vehicle speed adjusting device and adjusting method based on road surface flatness
CN112528710B (en) * 2019-09-19 2024-04-09 上海海拉电子有限公司 Road surface detection method and device, electronic equipment and storage medium
CN112606804B (en) * 2020-12-08 2022-03-29 东风汽车集团有限公司 Control method and control system for active braking of vehicle
CN112660091B (en) * 2020-12-24 2022-11-15 珠海格力电器股份有限公司 Automobile control method and device, automobile, storage medium and processor

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009248909A (en) * 2008-04-10 2009-10-29 Toyota Motor Corp Vehicle speed control device
GB2494415A (en) * 2011-09-06 2013-03-13 Land Rover Uk Ltd A vehicle suspension control including a vehicle mounted time of flight camera
DE102012017569A1 (en) * 2012-09-06 2013-03-14 Daimler Ag Method for operating vehicle i.e. car, involves determining height profile of road lying ahead of vehicle, and automatically reducing momentary driving speed for passing over unevenness in road to preset driving speed

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009248909A (en) * 2008-04-10 2009-10-29 Toyota Motor Corp Vehicle speed control device
GB2494415A (en) * 2011-09-06 2013-03-13 Land Rover Uk Ltd A vehicle suspension control including a vehicle mounted time of flight camera
DE102012017569A1 (en) * 2012-09-06 2013-03-14 Daimler Ag Method for operating vehicle i.e. car, involves determining height profile of road lying ahead of vehicle, and automatically reducing momentary driving speed for passing over unevenness in road to preset driving speed

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2523092B (en) * 2014-02-12 2017-11-01 Jaguar Land Rover Ltd A system for use in a vehicle
GB2523092A (en) * 2014-02-12 2015-08-19 Jaguar Land Rover Ltd A system for use in a vehicle
GB2525839A (en) * 2014-02-18 2015-11-11 Jaguar Land Rover Ltd Method of and system for collecting data relating to road irregularities
GB2525839B (en) * 2014-02-18 2017-09-27 Jaguar Land Rover Ltd Method of and system for collecting data relating to road irregularities
CN109476310B (en) * 2016-12-30 2021-11-12 同济大学 Automatic driving vehicle speed control method based on comfort level
CN109476310A (en) * 2016-12-30 2019-03-15 同济大学 A kind of automatic Pilot method for controlling driving speed based on comfort level
CN108099897A (en) * 2017-11-17 2018-06-01 浙江吉利汽车研究院有限公司 Cruise control method, apparatus and system
CN108099897B (en) * 2017-11-17 2019-11-12 浙江吉利汽车研究院有限公司 Cruise control method, apparatus and system
CN108151681A (en) * 2017-11-23 2018-06-12 中国第汽车股份有限公司 A kind of vehicle-mounted road surface unevenness identifying system and method based on binocular camera
CN108151681B (en) * 2017-11-23 2019-12-31 中国第一汽车股份有限公司 Binocular camera-based vehicle-mounted road surface unevenness recognition system and method
CN109263636A (en) * 2018-08-31 2019-01-25 深圳市易成自动驾驶技术有限公司 Speed adjusting method, device and computer readable storage medium
CN109583776A (en) * 2018-12-05 2019-04-05 百度在线网络技术（北京）有限公司 A kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle
EP3974233A1 (en) 2020-09-25 2022-03-30 Volkswagen Ag Road-based motor vehicle, database and method for driving a current collector of a road-based motor vehicle
DE102020212067A1 (en) 2020-09-25 2022-03-31 Siemens Mobility GmbH Method for controlling a pantograph of a road motor vehicle, road motor vehicle and database
DE102020212069A1 (en) 2020-09-25 2022-03-31 Volkswagen Aktiengesellschaft Road-guided motor vehicle with at least one pantograph for at least one overhead line and method for controlling a pantograph
CN115257554A (en) * 2022-06-14 2022-11-01 北京航星传动科技有限公司 Sensor position control device for vehicle, method, computer device, and medium

Also Published As

Publication number Publication date
GB201321179D0 (en) 2014-01-15

Similar Documents

Publication Publication Date Title
GB2510672A (en) Maintaining ride comfort by adapting vehicle speed according to road roughness
KR101118432B1 (en) System for regulating the position of the chassis of a motor vehicle, method for operating thereof, and a controlling apparatus
US9947227B1 (en) Method of warning a driver of blind angles and a device for implementing the method
US20160325595A1 (en) Method For Controlling The Damping Force Of Adjustable Dampers In Motor Vehicles, Particularly In Commercial Vehicles
US9333828B2 (en) Suspension control system to facilitate wheel motions during parking
US10392023B2 (en) System and method for determining whether a trailer is attached to a vehicle
US10106167B2 (en) Control system and method for determining an irregularity of a road surface
US9937765B2 (en) Method of adapting an automobile suspension in real-time
US7916006B2 (en) Judgment line calculations for a vehicle safety system
US6801837B2 (en) Intervehicle network communication system
US20150291177A1 (en) Speed bump detection apparatus and navigation data updating apparatus and method using the same
US10052927B2 (en) Method and device for automatically or semi-automatically adjusting a chassis
CN111667705B (en) Rollover prevention early warning system for heavy truck at bend
CN103813950A (en) Method for improving driving stability
CN103192759A (en) System and method for controlling planar array LED vehicle lamp for vehicle meeting at night
WO2017089057A1 (en) Method and device for determining a type of the road on which a vehicle is driving
EP3308353B1 (en) Vehicle diagnosis and camera adjustment using a detection of camera inclination angles
KR20170040971A (en) Radar module and method for controlling thereof
US20160304093A1 (en) Distance regulating system, motor vehicle and computer program product
CN103608229A (en) Device and method for controlling the driving dynamics of a vehicle and vehicle having such a device
GB2571589A (en) Terrain inference method and apparatus
US20220290987A1 (en) Preview road surface detection device
JP2018096715A (en) On-vehicle sensor calibration system
JPH10324192A (en) Control device for lighting distance of headlight for vehicle
JPS59206213A (en) Device for monitoring distance to travelling path of reference point of automobile

Legal Events

Date Code Title Description
WAP Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1)