JP2004131071A - 車輪接地および車輪浮上がり状態を動的に決定するための方法並びにそれらの横揺れ安定性制御への応用 - Google Patents
車輪接地および車輪浮上がり状態を動的に決定するための方法並びにそれらの横揺れ安定性制御への応用 Download PDFInfo
- Publication number
- JP2004131071A JP2004131071A JP2003311983A JP2003311983A JP2004131071A JP 2004131071 A JP2004131071 A JP 2004131071A JP 2003311983 A JP2003311983 A JP 2003311983A JP 2003311983 A JP2003311983 A JP 2003311983A JP 2004131071 A JP2004131071 A JP 2004131071A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- vehicle
- roll
- angle
- lift
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000005096 rolling process Methods 0.000 title abstract description 39
- 230000001133 acceleration Effects 0.000 claims abstract description 62
- 230000004044 response Effects 0.000 claims description 19
- 230000008569 process Effects 0.000 abstract description 15
- 238000001514 detection method Methods 0.000 description 56
- 239000000725 suspension Substances 0.000 description 41
- 230000008859 change Effects 0.000 description 24
- 230000033001 locomotion Effects 0.000 description 24
- 230000005484 gravity Effects 0.000 description 17
- 238000004364 calculation method Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000001052 transient effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 5
- 230000010354 integration Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 4
- 230000014509 gene expression Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010070834 Sensitisation Diseases 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000586 desensitisation Methods 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008313 sensitization Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- 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
- B60G17/0162—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 mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- 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
- B60G17/0195—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 the regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
- B60R16/0233—Vehicle tilting, overturning or roll over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
-
- 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
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction 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
-
- 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
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/241—Lateral vehicle inclination
- B60T8/243—Lateral vehicle inclination for roll-over protection
-
- 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
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/246—Change of direction
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/02—Trucks; Load vehicles
- B60G2300/026—Heavy duty trucks
-
- 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
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
-
- 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
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- 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
- B60G2400/204—Vehicle speed
-
- 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
- B60G2400/30—Propulsion unit conditions
- B60G2400/32—Torque on propulsion shaft
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
- B60G2400/412—Steering angle of steering wheel or column
- B60G2400/4122—Neutral position detection
-
- 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
- B60G2400/60—Load
- B60G2400/61—Load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/12—Strain gauge
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/17—Magnetic/Electromagnetic
- B60G2401/174—Radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/28—Gyroscopes
-
- 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
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- 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
- B60G2800/01—Attitude or posture control
- B60G2800/019—Inclination due to load distribution or road gradient
- B60G2800/0194—Inclination due to load distribution or road gradient transversal with regard to vehicle
-
- 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
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
-
- 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
- B60G2800/24—Steering, cornering
-
- 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
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
-
- 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
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- 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
- B60G2800/85—System Prioritisation
-
- 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
- B60G2800/91—Suspension Control
-
- 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
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9122—ARS - Anti-Roll System Control
-
- 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
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9124—Roll-over protection systems, e.g. for warning or control
-
- 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
- B60G2800/92—ABS - Brake Control
-
- 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
- B60G2800/92—ABS - Brake Control
- B60G2800/922—EBV - Electronic brake force distribution
-
- 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
- B60G2800/95—Automatic Traction or Slip Control [ATC]
- B60G2800/952—Electronic driving torque distribution
-
- 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
- B60G2800/96—ASC - Assisted or power Steering control
-
- 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
- B60G2800/96—ASC - Assisted or power Steering control
- B60G2800/962—Four-wheel steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01122—Prevention of malfunction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01313—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring the vehicle steering system or the dynamic control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01322—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value comprising variable thresholds, e.g. depending from other collision parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01327—Angular velocity or angular acceleration
-
- 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
- B60T2210/20—Road shapes
- B60T2210/22—Banked curves
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/03—Overturn, rollover
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
-
- 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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
- Regulating Braking Force (AREA)
Abstract
【解決手段】この方法は、縦揺れ速度を決定する工程、横加速度を決定する工程、横揺れ速度を決定する工程、縦加速度を決定する工程;および前記車輌に対する計算した角度を決定する工程を含む。この方法は、更に、縦揺れ速度、横加速度、横揺れ速度および縦加速度の関数として車輪浮上がり信号または車輪接地信号を発生する工程、前記車輪浮上がりまたは車輪接地信号に応じて前記計算した角度を調整する工程、並びに前記計算した車輌角度に応じて安全システム(44)を制御する工程を含む。
【選択図】図1
Description
本発明は、各々参考までにここに援用する、全て2002年8月1日に提出した米国特許予備出願第60/400,375号、第60/400,261号、第60/400,172号、第60/400,376号、第60/400,156号および第60/400,155号、並びに“自動車用車輪の浮上がり確認”という名称の米国特許出願第09/669,513号の一部継続出願である、“自動車用車輪の浮上がり確認”という名称の米国特許出願第10/038,364号の一部継続出願である、2002年8月5日に提出した第60/401,418号、並びにこれと同時に提出した米国特許出願(代理人整理番号第202−0762/FGT−1678号、第202−0634/FGT−1679号、および第203−0433/FGT−1683号)の優先権を主張する。
車輌の横揺れ状態は、横揺れ速度および横加速度センサ信号を使って計算した、車両本体と車輪車軸の間の相対横揺れ角θxrによって特徴付けることができる。もし、この横揺れ角が急速に増加するならば、この車両は、車輪浮上がりか転覆の瀬戸際にあるに違いない。この角が小さいことは、車輪が浮上がっていないか、全て接地していることを示す。
Sy=Sylf+Syrf+Sylr+Syrr (1)
垂直懸架力Szlf、Szrf、Szlr、Szrrによる横揺れモーメントMsusp−vertと;
全横懸架力Syによる横揺れモーメントMsusp−latである。
wx−sensor=wx (10)
Msusp−lat=Mshcgay−sensor
Sy=Msay−sensor (11)
qbw(k+1)=qbw(k)+ΔT*f(k)
x(k+1)=x(k)+ΔT*g(k) (14)
qwr(k+1)=qwr(k)+ΔT*x(k)+ΔT2*g(k)
但し、ΔTは、実施したアルゴリズムのサンプリング時間であり、
f(k)=−c1qbw(k)−c2wx−sensor(k)+c3ay−sensor(k)
g(k)=−d1cos(qwr(k))+d2ay−sensor(k)cos(qbw(k))+d3qbw(k)+d4qbw(k) (15)
転動半径ベースの車輪デパーチャアングルに基づいて、車輪浮上がりの第1定量的表示を横揺れ状態検出器64の一つとして行ってもよい。移動する車輌のi番目の転動車輪の転動半径r(i)は、次の式でi番目の車輪スピードwi(i番目のABS車輪スピードセンサからの)および車輪の線形コーナ速度vc(i)(ステアリング角、横滑り角およびこの車輌の基準速度から計算した)と関連する:
vc(0)=Vx[cos(δ)+tan(β)sin(δ)]+ωz[lfsin(δ)-tfcos(δ)]
vc(1)=Vx[cos(δ)+tan(β)sin(δ)]+ωz[lfsin(δ)+tfcos(δ)]
vc(2)=Vx-ωztr (16.5)
vc(3)=Vx-ωztr
但し、 tf および tr は前車軸および後車軸のトラックの半分、 lf および lr は車輌の重心と前および後車軸との間の距離、δは前輪でのステアリング角、βはこの車輌の横滑り角、ωz はこの車輌の片揺れ速度である。
もし、Vref>5ならば、
(i=0;i<4;++)に対して
{
θrr−whl(0)=0;
θrr−whl(1)=0;
}
但し、p_MAX_DRR(例えば、1000)は許容最大動的転動半径、およびp_MAX_WDA(例えば、13度)は最大転動半径に基づく車輪デパーチャアングルである。
もし、(τactive(0)>0&&τactive(1)>0)ならば、
{
θrr−whl(0)=−θrr−whl(0);
}
もし、(τactive(2)>0&&τactive(3)>0)ならば、
{
θrr−whl(1)=−θrr−whl(1);
}
但し、τactive(i)はi番目の車輪に加えた観察トルクを表し、それは駆動トルクかブレーキトルクであることがあり、または例えば τactive(i)=τdriving(i)−τbraking(i)である。
横揺れ状態検出器64の一つで受動的に車輪浮上がりを検出するために縦車輪スリップ比を使うもう一つの方法。縦車輪スリップは、車輪浮上がりの第2の定性的表示を発生するために使ってもよい。
(i=0;i<4;i++)に対して
{
ds(i)=p_10HZ_COEF*ds(i)
+(s(i)−z1_s(i))*(1−p_10HZ_COEF)/0.007;
z1_s(i)=s(i);
}
但し、p_10HZ_COEF(例えば、0.9)は、10Hzカットオフ周波数の低域通過フィルタを反映する係数である。
車輌の横揺れ状態または車輪浮上がりは、車輪縦スリップ速度からも間接的に見ることができる。もし、正常なブレーキまたは駆動トルク中に、車輌の片側の車輪のスリップ速度が増大すると、それらの車輪は縦路面トルクを失う。これは、車輪が低μ面を駆動しているか、浮上がっていることを意味する。それで、トルクベースの定量的車輪浮上がり決定で縦スリップ速度srを使ってもよい。
(i=0;i<4;i++)に対して
{
sr(i)=sat(vc(i)*ds(i),−p_MAX_SLIP_RATE,
p_MAX_SLIP_RATE);
}
但し、p_MAX_SLIP_RATE(例えば、300)は、スリップ速度を制限するための上限である。それで、上の式から分るように、スリップ速度を式(21)を使ってp_MAX_SLIP_RATEの限界内で決めることができる。このスリップ速度を閾値と比較する。もし、このスリップ速度がスリップ速度閾値より上がるならば、この車輪は事によると浮上がっているかも知れない。
車輌の横揺れ状態は、各車輪が支持する垂直負荷によっても特徴付けることができる。理論的に、ゼロまたはそれに近く減少する車輪の垂直負荷は、その車輪がもう路面に接触していないことを示す。この場合、潜在的転覆が進行中である。この負荷が大きいことは、車輪が接地していることを示す。
Nnon−heave(0)=Kf(−θxrtf+θyrlf)cos(θxr)cos(θyr)
Nnon−heave(1)=Kf( θxrtf+θyrlf)cos(θxr)cos(θyr)
Nnon−heave(2)=Kr(−θxrtr−θyrlr)cos(θxr)cos(θyr)
Nnon−heave(3)=Kr( θxrtr−θyrlr)cos(θxr)cos(θyr)
(25)
但し、Kfは、前懸架装置のばね定数およびKrは、後懸架装置のばね定数である。
az≒g (27)
横揺れ状態または車輪浮上がりは、車輪に加わる実際の路面トルクおよび車輪が接地しているとき車輪を支持するために必要な路面トルクをチェックすることによっても確認できる。この実際の路面トルクは、車輪加速度、駆動トルクおよびブレーキトルクを使う各車輪のトルク釣合わせによって得ることができる。もし、車輪が路面に接触しているなら、計算した実際の路面トルクは、各車輪で垂直負荷および縦スリップから計算した非線形トルクと一致するかそれより大きいに違いない。
もし、車輪が接地、即ち、路面に接触しているなら、この接地した路面トルクτroad−grd(i)は、次のような非線形関数関係で車輪スリップ比s(i)、車輪横滑り角α(i)および車輪の動的垂直負荷Ntotal(i)と関連する。
τroad−grd(i)=Ntotal(i)φ(s(i),α(i)) (31)
φ(s(i),α(i))=k(α(i))s(i) (32)
τroad−grd(i)≒k(i)Ntotal(i)s(i) (33)
但し、k(i)は、関数k(α(i))の初期勾配である。
近似式(33)は、次のように実行できる。
(i=0;i<4;i++)に対して
{
もし、(s(i)≦0&&s(i)≧p_BRAKING_LIN_SLIP
‖s(i)≧0&&s(i)≦p_DRIVING_LIN_SLIP)ならば、
{
τroad−grd(i)=Ntotal(i)*p_SLIP_TO_RT_GAIN*s(i)*R0;
}
そうでなく、もし、(s(i)≦p_DRIVING_LIN_SLIP)ならば、
{
τroad−grd(i)=Ntotal(i)*p_SLIP_TO_RT_GAIN*p_BRAKING_LIN_SLIP*R0;
}
そうでなければ、
{τroad−grd(i)=Ntotal(i)*p_SLIP_TO_RT_GAIN*p_DRIVING_LIN_SLIP*R0;
}
}
(34)
但し、p_BRAKING_LIN_SLIP(例えば、−10%)は、ブレーキスリップ閾値であり、p_DRIVING_LIN_SLIP(例えば、25%)は、走行スリップ閾値である。これらの閾値は、ブレーキ作動および走行中に路面トルクとスリップの間の線形関係が有効なときの最大スリップである。
(出力変数)
受動的車輪浮上がり状態: PWLD(i)
もし、i番目の車輪が完全接地しているなら、
PWLD(i)=ABSOLUTELY_GROUNDED
もし、i番目の車輪が接地の瀬戸際にあるなら、
PWLD(i)=POSSIBLY_GROUNDED
もし、i番目の車輪が完全に浮上がっているなら、
PWLD(i)=ABSOLUTELY_LIFTED
もし、i番目の車輪が浮上がりの初期にあるなら、
PWLD(i)=POSSIBLY_LIFTED
もし、i番目の車輪の状態がしっかりと確認できないなら、
PWLD(i)=NO_INDICATION
(パラメータ)
p_MAX_DRR:動的転動半径の上限。
この例では(1000m)の値を使った。
p_MAX_WDA:動的転動半径ベースの車輪デパーチャアングルの上限。
この例では(13度)の値を使った。
p_ROLL_TH_05=0.05*ROLL_GRADIENT
p_ROLL_TH_25=0.25*ROLL_GRADIENT
p_ROLL_TH_40=0.40*ROLL_GRADIENT
p_ROLL_TH_55=0.55*ROLL_GRADIENT
p_ROLL_TH_75=0.75*ROLL_GRADIENT
p_SAT_NLOAD_F:前輪の(車輪当り)垂直負荷。
p_SAT_NLOAD_R:後輪の(車輪当り)垂直負荷。
p_SLIP_RT_GAIN:スリップ比を正規化路面トルクに変換するために使った
ゲイン。
この例では(6)の値を使った。
p_NLOAD_LOSS:垂直負荷損失の許容パーセント。
この例では(0.3)の値を使った。
例では(0.41度)の値を使った。
p_GRD_NDW_DWA_TH:接地した非従動輪用許容車輪デパーチャアングル。
この例では(1.25度)の値を使った。
p_LFT_DW_DWA_TH:接地した従動輪を浮上げるための最小車輪デパーチャ
アングル。この例では(4度)の値を使った。
p_LFT_NDW_DWA_TH:接地した非従動輪を浮上げるための最小車輪デパー
チャアングル。この例では(10度)の値を使った
。
p_GRD_PR_TH:接地した車輪トルク状態用ブレーキ圧力。
この例では(0.6MPa)の値を使った。
p_LFT_PR_TH:低トルクに選択した状態浮の上がった車輪用ブレーキ圧力。こ
の例では(2MPa)の値を使った。
p_LFT_SP_MIN_TH:多分接地した状態用スリップ力。
この例では(0.4)の値を使った。
車輪浮上がりの定性的レベルまたはその欠如を決めるための実施例が種々の比較を使う。受動的車輪浮上がり検出器58がi=0、1、2、3に対しPWLD(i)をセットし、但し、0はFL輪を表し、1はRL輪を表し、および3はRR輪を表す。もしPWLD(i)=ABSOLUTELY_GROUNDEDなら、i番目の車輪がはっきりと路面に接触していて;もしPWLD(i)=POSSIBLY_GROUNDEDなら、i番目の車輪が路面に接触しようとしていて;もしPWLD(i)=ABSOLUTELY_LIFTEDなら、i番目の車輪がはっきりと浮上がりまたは空中に上がっていて;もしPWLD(i)=POSSIBLY_LIFTEDなら、i番目の車輪が路面の接触を離れようとしていて;もしPWLD(i)=NO_INDICATIONなら、i番目の車輪に対する浮上がりおよび接地両方のはっきりした表示がない。
もし、(θxr>0)なら、
{ もし、(θxr≦p_ROLL_TH_55&&θwhl≦p_ROLL_TH_05
)なら、
{ PWLD(0)=POSSIBLY_GROUNDED
PWLD(2)=POSSIBLY_GROUNDED; }
そうでなければ、
{ PWLD(0)=NO_INDICATION;
PWLD(2)=NO_INDICATION; } }
そうでなく、
{ もし、(θxr≧−p_ROLL_TH_55&&θwhl≧−p_ROLL_TH
_05)なら、
{ PWLD(1)=POSSIBLY_GROUNDED
PWLD(3)=POSSIBLY_GROUNDED; }
そうでなければ、
{ PWLD(1)=NO_INDICATION;
PWLD(3)=NO_INDICATION; }
}
(35)
Ntotal(i)≧Nth(i)
を満足するならば、PWLD(i)=ABSOLUTELY_GROUNDEDである。ここでは車輪が接地しているときそれらに対する最小垂直負荷としてi=0、1、2、3に対する四つの変数Nth(i)を使う:
Nth(0)=p_STAT_NLOAD_F*
(1−P_NLOAD_LOSS);
Nth(1)=p_STAT_NLOAD_F*
(1−P_NLOAD_LOSS); (36)
Nth(2)=p_STAT_NLOAD_R*
(1−P_NLOAD_LOSS);
Nth(3)=p_STAT_NLOAD_R*
(1−P_NLOAD_LOSS);
τroad(i)τroad−grd(i)>=0
および
|τroad(i)|≧|τroad−grd(i)|
ならば、PWLD(i)=ABSOLUTELY_GROUNDED。
{ もし、(PWLD(0)==POSSIBLY_GROUNDED
&&(Ntotal(0)≧Nth(0)
‖sp(0)<0
‖(τroad(0)*τroad−grd(0)≧0
&&|τroad(0)|≧|τroad−grd(0)|
‖(|θrr−whl(0)|≦p_GRD_DW_DWA_TH
&&Pt(0)==2 &&|τactive(0)|
≧p_GRD_PR_TH*BRKTQ_GAIN_F)
‖(|θrr−whl(0)|≦p_GRD_NDW_DWA_TH
&&Pτ(0)!=2 &&|τactive(0)|
≧p_GRD_PR_TH*BRKTQ_GAIN_F))
なら、
{PWLD(0)=ABSOLUTELY_GROUNDED;}
もし、(PWLD(2)==POSSIBLY_GROUNDED
&&(Ntotal(2)≧Nth(2)
‖sp(2)<0
‖(τroad(2)*τroad−grd(2)≧0
&&|τroad(2)|≧|τroad−grd(2)|)
‖(|θrr−whl(1)|≦p_GRD_DW_DWA_TH
&&Pτ(2)==2 &&|τactive(2)|
≧p_GRD_PR_TH*BRKTQ_GAIN_R)
‖(|θrr−whl(1)|≦p_GRD_NDW_DWA_TH
&&Pτ(0)!=2 &&|τactive(2)|
≧p_GRD_PR_TH*BRKTQ_GAIN_R))
なら、
{PWLD(2)=ABSOLUTELY_GROUNDED;}
}
(37)
もし、θxr≦0なら、
{ もし、(PWLD(1)==POSSIBLY_GROUNDED
&&(Ntotal(1)≧Nth(1)
‖sp(1)<0
‖(τroad(1)*τroad−grd(1)≧0
&&|τroad(1)|≧|τroad−grd(1)|)
‖(|θrr−whl(0)|≦p_DW_DWA_TH
&&Pτ(1)==2 &&|τactive(1)|
≧p_GRD_PR_TH*BRKTQ_GAIN_F)
‖(|θrr−whl(1)|≦p_NDW_DWA_TH
&&Pτ(1)!=2 &&|τactive(1)|
≧p_GRD_PR_TH*BRKTQ_GAIN_F))
なら、
{PWLD(1)=ABSOLUTELY_GROUNDED;}
もし、(PWLD(3)==POSSIBLY_GROUNDED
&&(Ntotal(3)≧Nth(3)
‖sp(3)<0
‖(τroad(3)*τroad−grd(3)≧0
&&|τroad(3)|≧|τroad−grd(3)|
‖(|θrr−whl(1)|≦p_DW_DWA_TH
&&Pτ(3)==2 &&|τactive(3)|
≧p_GRD_PR_TH*BRKTQ_GAIN_R)
‖(|θrr−whl(1)|≦p_NDW_DWA_TH
&&Pτ(3)!=2 &&|τactive(3)|
≧p_GRD_PR_TH*BRKTQ_GAIN_R))
なら、
{PWLD(3)=ABSOLUTELY_GROUNDED;}
}
(38)
&&|τactive(0)|≦|τactive(1)|
+p_LFT_PR_TH*BRKTQ_GAIN_F
+(τactive(0)>0&&τactive(1)>0
&&|τactive(0)|≦|τactive(1)|
+p_LFT_PR_TH*BRKTQ_GAIN_F)*2;
Pτ(2)=τactive(2)≦0&&τactive(3)≦0
&&|τactive(2)|≦|τactive(3)|
+p_LFT_PR_TH*BRKTQ_GAIN_R
+(τactive(2)>0&&τactive(3)>0
&&|τactive(2)|≦|τactive(3)|
+p_LFT_PR_TH*BRKTQ_GAIN_R)*2;
Pτ(1)=τactive(1)≦0&&τactive(0)≦0
&&|τactive(1)|≦|τactive(0)|
+p_LFT_PR_TH*BRKTQ_GAIN_F
+(τactive(1)>0&&τactive(0)>0
&&|τactive(1)|≦|τactive(0)|
+p_LFT_PR_TH*BRKTQ_GAIN_F)*2;
Pτ(3)=τactive(3)≦0&&τactive(2)≦0
&&|τactive(3)|≦|τactive(2)|
+p_LFT_PR_TH*BRKTQ_GAIN_R
+(τactive(3)>0&&τactive(2)>0
&&|τactive(3)|≦|τactive(2)|
+p_LFT_PR_TH*BRKTQ_GAIN_R)*2;
(39)
もし、θxr>0なら、
{ θcond=(θxr≧p_ROLL_TH_75
‖(θxr≧p_ROLL_TH_50
&&θwhl≧p_ROLL_TH_25)
‖(θxr≧p_ROLL_TH_40
&&θwhl≧p_ROLL_TH_75)); }
そうでなければ、
{ θcond=(θxr≦−p_ROLL_TH_75
‖(θxr≦−p_ROLL_TH_50
&&θwhl≦−p_ROLL_TH_25)
‖(θxr≦−p_ROLL_TH_40
&&θwhl≦−p_ROLL_TH_75));
}
(40)
もし、θxr>0なら、
{
PLcond(0)=sp(0)≧−0.01&&(θcond==1
‖Ntotal(0)≦p_LOAD_F*p_LOSS);
PLcond(2)=sp(2)≧−0.01&&(θcond==1
‖Ntotal(2)≦p_LOAD_R*p_LOSS)
}
(41)
もし、θxr≦0なら、
{
PLcond(1)=sp(1)≧−0.01&&(θcond==1
‖Ntotal(1)≦p_LOAD_F*p_LOSS);
PLcond(3)=sp(3)≧−0.01&&(θcond==1
‖Ntotal(3)≦p_LOAD_R*p_LOSS);
}
(42)
(i=0;i<4;i++)に対して
{
もし、PLcond(i)==1なら、 (43)
PWLD(i)=POSSIBLY_LIFTED;
}
この場合、もし、加えたブレーキトルクがトルクパターン条件を満たす場合、即ち、右載荷輪の場合
τactive(left)≧τactive(right)−p_PRES_SL_TH*BRKTQ_GAIN
(44)
左載荷輪の場合
τactive(right)≧τactive(left)−p_PRES_SL_TH*BRKTQ_GAIN
(45)
を満足したなら、この車輪の浮上がりを前輪に対する
|θrr−whl(0)|≧p_NDW_WDA_TH (46)
および後輪に対する
|θrr−whl(1)|≧p_NDW_WDA_TH (47)
の転動半径ベースの車輪デパーチャアングル状態でチェックする。
但し、閾値p_NDW_WDA_THは、非従動輪用の転動半径ベースの車輪デパーチャアングルである。
この場合、低トルク選択状態は(29)および(30)と同じであるが、車輪デパーチャアングル状態は、違った閾値を使う必要がある。左載荷輪の場合
|θrr−whl(0)|≧p_DW_WDA_TH (48)
および後輪に対して
|θrr−whl(1)|≧p_DW_WDA_TH (49)
この場合、次と同じである、即ち、右載荷輪に対し
τactive(left)≦τactive(right)+p_PRES_SL_TH*BRKTQ_GAIN
(50)
および左載荷輪の場合に対し
τactive(right)≦τactive(left)+p_PRES_SL_TH*BRKTQ_GAIN
(51)
もし、θxr>0なら、
{
もし、(PWLD(0)==NO_INDICATION
&&PWLD(0)==POSSIBLY_LIFTED)なら、
{
もし、( Pτ(0)==1
&&θrr−whl(0)≧p_LFT_NDW_WDA_TH
‖Pτ(0)==2&&θrr−whl(0)≧p_LFT_DW_WDA_TH
‖Pτ(0)==1&&θrr−whl(0)≧p_LFT_DW_WDA_TH
&&(DRIVE_MODE==FRONT‖
DRIVE_MODE==FOUR‖
DRIVE_MODE==TOD))なら、
)
{PWLD(0)=ABSOLUTELY_LIFTED;}
もし、(sp(0)≦−p_LFT_SP_MIN_TH)なら、
{PWLD(0)=POSSIBLY_GROUNDED;}
}
もし、PWLD(2)==NO_INDICATION
&&PWLD(2)==POSSIBLY_LIFTED)なら、
{
もし、( Pτ(2)==1
&&θrr−whl(1)≧p_LFT_NDW_WDA_TH
‖Pτ(2)==2&&θrr−whl(1)≧p_LFT_DW_WDA_TH
‖Pτ(2)==1&&θrr−whl(1)≧p_LFT_DW_WDA_TH
&&(DRIVE_MODE==FRONT‖
DRIVE_MODE==FOUR‖
DRIVE_MODE==TOD))なら、
)
{PWLD(2)=ABSOLUTELY_LIFT;}
もし、(sp(2)≦−p_LET_SP_MIN_TH)なら、
{PWLD(2)=POSSIBLY_GROUNDED;}
}
}
(52)
もし、θxr≦0なら、
{
もし、(PWLD(1)==NO_INDICATION
&&PWLD(1)==POSSIBLY_LIFTED)なら、
{
もし、( Pτ(1)==1
&&θrr−whl(0)≦−p_LFT_NDW_WDA_TH
‖Pτ(1)==2&&θrr−whl(0)≦−p_LFT_DW_WDA_TH
‖Pτ(1)==1&&θrr−whl(0)≧−p_LFT_DW_WDA_TH
&&(DRIVE_MODE==FRONT‖
DRIVE_MODE==FOUR‖
DRIVE_MODE==TOD))なら、
)
{PWLD(1)=ABSOLUTELY_LIFTED;}
もし、(sp(1)≦−p_LET_SP_MIN_TH)なら、
{PWLD(1)=POSSIBLY_GROUNDED;}
}
もし、PWLD(3)==NO_INDICATION
&&PWLD(3)==POSSIBLY_LIFTED)なら、
{
もし、( Pτ(3)==1
&&θrr−whl(1)≦p_LFT_NDW_WDA_TH
‖Pτ(3)==2&&θrr−whl(1)≦p_LFT_DW_WDA_TH
‖Pτ(3)==1&&θrr−whl(1)≦p_LFT_DW_WDA_TH
&&(DRIVE_MODE==FRONT‖
DRIVE_MODE==FOUR‖
DRIVE_MODE==TOD))なら、
)
{PWLD(3)=ABSOLUTELY_LIFT;}
もし、(sp(3)≦−p_LET_SP_MIN_TH)なら、
{PWLD(3)=POSSIBLY_GROUNDED;}
}
}
受動的および能動的の両方の車輪浮上がり検出を転覆制御システムまたは他の安全システムで使ってもよい。
今度は図9を参照して、理論的には能動的方法と類似の受動的方法を以後説明する。即ち、車輪に変化するトルクを加えるのではなく、車輪への動作入力トルクを使ってもよい。この受動的決定を上に説明した図6の方法で使ってもよい。それで、この車輪への動作入力トルクは、親出願米国特許第6,356,188号に記載してあるものと比較して、正常動作状態のもののうちの一つの無修正の車輪トルクである。従って、以下の説明する受動的システムは、低またはゼロ近くから、負(ブレーキ)または正(加速)までの種類の正常動作車輪トルクを許容できる。各車輪がこの方法を受けてもよいことに注意すべきである。
受動的車輪浮上がり検出戦略(PWLD)は、問題の車輪が浮上がっているかどうかを決めるために各瞬間に全ての利用できる運動変数をチェックする。AWLDに優るPWLDの利点は、後者が各瞬間に表示を送ることができ、前者は、表示を送出すまである期間待つ必要があることである。もう一つの利点は、運転者のブレーキ作動中、PWLDを使って効果的に車輪浮上がりを確認できることである。しかし、PWLDは、ある場合に、もし、車輪スリップが十分に妨げられず且つ十分なトルクが存在しないなら、車輪浮上がり状態を決めるための情報が不充分となる場合がある。
Swld−passive(i)=ABSOLUTELY_GROUNDED
Swld−passive(i)=POSSIBLY_GROUNDED
Swld−passive(i)=ABSOLUTELY_LIFTED
Swld−passive(i)=POSSIBLY_LIFTED
Swld−passive(i)=NO_INDICATION
(i=0;i≦3;i++)に対して
{
もし、(Swld−active(i)==ABSOLUTELY_GROUNDED)ならば、
Swld(i)=ABSOLUTELY_GROUNDED;
そうでなく、もし、(Swld−active(i)==ABSOLUTELY_LIFTED)ならば、
Swld(i)=ABSOLUTELY_LIFTED;
そうでなく、もし、(Swld−passive(i)==ABSOLUTELY_GROUNDED)ならば、
Swld(i)=ABSOLUTELY_GROUNDED;
そうでなく、もし、(Swld−passive(i)==ABSOLUTELY_LIFTED)ならば、
Swld(i)=ABSOLUTELY_LIFTED;
そうでなく、もし、(Swld−active(i)==POSSIBLY_GROUNDED)ならば、
Swld(i)=POSSIBLY_GROUNDED;
そうでなく、もし、(Swld−active(i)==POSSIBLY_LIFTED)ならば、
Swld(i)=POSSIBLY_LIFTED; そうでなく、もし、(Swld−passive(i)==POSSIBLY_GROUNDED)ならば、
Swld(i)=POSSIBLY_GROUNDED;
そうでなく、もし、(Swld−passive(i)==POSSIBLY_LIFTED)ならば、
Swld(i)=POSSIBLY_LIFTED;
そうでなければ、
Swld(i)=NO_INDICATION;
}
(i=0;i≦3;i++)に対して
{
もし、((Swld−active(i)≦POSSIBLY_GROUNDED&&
Swld−passive(i)≧POSSIBLY_LIFTED)
‖(Swld−active(i)≧POSSIBLY_LIFTED)&&
Swld−passive(i)≦POSSIBLY_GROUNDED)
)ならば、
Swld(i)=NO_INDICATION;
}
もし、( Swld(0)≦POSSIBLY_GROUNDED
&&Swld(2)≧POSSIBLY_LIFTED
)ならば、
{
Swld(0)=NO_INDICATION;
Swld(2)=NO_INDICATION;
}
もし、( Swld(1)≦POSSIBLY_GROUNDED
&&Swld(3)≧POSSIBLY_LIFTED
)ならば、
{
Swld(1)=NO_INDICATION;
Swld(3)=NO_INDICATION;
}
もし、( Swld(2)≦POSSIBLY_GROUNDED
&&Swld(0)≧POSSIBLY_LIFTED
)ならば、
{
Swld(0)=NO_INDICATION;
Swld(2)=NO_INDICATION;
}
もし、( Swld(3)≦POSSIBLY_GROUNDED
&&Swld(1)≧POSSIBLY_LIFTED
)ならば、
{
Swld(1)=NO_INDICATION;
Swld(3)=NO_INDICATION;
}
もし、(θxr≧0&&θxr≦Θ&&ωx≦0)なら、
{
もし、(Swld(0)≧POSSIBLY_LIFTED)なら、
{
Swld(0)=NO_INDICATION;
}
もし、(Swld(2)≧POSSIBLY_LIFTED)なら、
{
Swld(2)=NO_INDICATION;
}
}
もし、(θxr≦0&&θxr≧−Θ&&ωx≧0)なら、
{
もし、(Swld(1)≧POSSIBLY_LIFTED)なら、
{
Swld(1)=NO_INDICATION;
}
もし、(Swld(3)≧POSSIBLY_LIFTED)なら、
{
Swld(3)=NO_INDICATION;
}
}
もし、(PRSC(0)≦Pest(0)+γ)なら、
{
車輪1でAWLDを切る;
Swld(1)=Swld−passive(1)
}
もし、(PRSC(1)≦Pest(1)+γ)なら、
{
車輪0でAWLDを切る;
Swld(0)=Swld−passive(0)
}
但し、PRSC(i)は転覆安定性制御システムが要求する前輪でのブレーキ圧、Pest(i)は推定キャリパ圧力、およびγは圧力オフセットである。上記論理で分るように、もし、前輪が要求する圧力が推定キャリパ圧力+オフセット以下であるなら、前輪のどちらかの最終車輪状態を受動的車輪状態にセットする。従って、特定の車輪用能動的車輪チェックが不能になる。
もし、(PRSC(0)≦Pest(0)+γ)なら、
{
車輪1でAWLDを切る;
Swld(1)=Swld−passive(1)
}
もし、(PRSC(1)≦Pest(1)+γ)なら、
{
車輪0でAWLDを切る;
Swld(0)=Swld−passive(0)
}
もし、(DRIVER_BRAKING_FLAG==1
&&Pdriver≧Ψ)なら、
{
車輪iでAWLDを切る;
Swld(i)=Swld−passive(i)
}
但し、Ψは運転者ブレーキ圧力Pdriverの閾値である。
もし、(OPEN__FLAG==1
&&τdriving(i)≧Γ)なら、
{
車輪iでAWLDを切る;
Swld(i)=Swld−passive(i)
}
但し、τdriving(i)はエンジントルクによってi番目の車輪に加わる正の駆動トルクおよびΓはτdriving(i)の閾値である。
次に図10を参照すると、路面11に対する車輌10の種々の角度が図示してある。以下で、基準路面バンク角θbankが路面上の車輌10に対して示してある。この車輌は、車両本体10aおよび車輪車軸10bを有する。車輪デパーチャアングルθwdaは、この車輪車軸と路面との間の角度である。相対横揺れ角θxrは、車輪車軸10bと本体10aとの間の角度である。大域横揺れ角θxは、水平面(例えば、海面)と車両本体10aとの間の角度である。
12a 車輪
12b 車輪
13a 車輪
13b 車輪
18 制御システム
44 安全システム
Claims (10)
- 複数の車輪(12a)、(12b)、(13a)、(13b)を有する自動車輌(10)を制御する方法であって:
片揺れ速度を決定する工程;
横加速度を決定する工程;
横揺れ速度を決定する工程;
縦加速度を決定する工程;
前記車輌に対する計算した角度を決定する工程;
偏揺れ速度、横加速度、横揺れ速度および縦加速度の関数として車輪浮上がり信号または車輪接地信号を発生する工程;
前記車輪浮上がりまたは車輪接地信号に応じて前記計算した角度を調整する工程;並びに
前記計算した車輌角度に応じて安全システム(44)を制御する工程を含む方法。 - 請求項1に記載する方法に於いて、計算した角度を決定する工程が前記横揺れ速度信号に応じて前記計算した車輌角度を決定する工程を含む方法。
- 請求項1に記載する方法に於いて、前記計算した角度が車輪デパーチャアングルを含む方法。
- 請求項1に記載する方法に於いて、前記計算した角度が基準バンク角を含む方法。
- 請求項1に記載する方法に於いて、前記計算した角度が相対横揺れ角を含む方法。
- 請求項1に記載する方法であって、更に、車輪浮上がりを打消すために前記安全システム(44)を制御する工程を含む方法。
- 自動車輌(10)用制御システム(18)を作動する方法であって:
車輪接地状態を検出する工程;および
前記車輪接地状態に応じて前記基準バンク角を前記線形バンク角の方へ調整する工程を含む方法。 - 請求項7に記載する方法に於いて、調整工程が前記基準バンク角を前記線形バンク角の方へ調整する工程を含む方法。
- 請求項7に記載する方法に於いて、調整工程が前記基準バンク角を次第に前記線形バンク角の方へ調整する工程を含む方法。
- 自動車輌(10)用制御システム(18)を作動する方法であって:
車輪接地状態を検出する工程;および
前記完全接地状態に応じて車輪デパーチャアングルをほぼゼロにセットする工程を含む方法。
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US40037502P | 2002-08-01 | 2002-08-01 | |
US40026102P | 2002-08-01 | 2002-08-01 | |
US40037602P | 2002-08-01 | 2002-08-01 | |
US40015502P | 2002-08-01 | 2002-08-01 | |
US40015602P | 2002-08-01 | 2002-08-01 | |
US40017202P | 2002-08-01 | 2002-08-01 | |
US40141802P | 2002-08-05 | 2002-08-05 | |
US10/609,447 US6904350B2 (en) | 2000-09-25 | 2003-06-27 | System for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2004131071A true JP2004131071A (ja) | 2004-04-30 |
Family
ID=30773815
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003311983A Pending JP2004131071A (ja) | 2002-08-01 | 2003-07-31 | 車輪接地および車輪浮上がり状態を動的に決定するための方法並びにそれらの横揺れ安定性制御への応用 |
Country Status (3)
Country | Link |
---|---|
US (1) | US6904350B2 (ja) |
EP (1) | EP1386805B1 (ja) |
JP (1) | JP2004131071A (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008546586A (ja) * | 2005-06-21 | 2008-12-25 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | モータ化単線車両の駆動動的制御方法と駆動動的制御器 |
KR101857035B1 (ko) * | 2016-04-26 | 2018-05-15 | 현대자동차주식회사 | 주행 정보 최적화를 통한 차량 전복 감지 시스템 |
Families Citing this family (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7162399B2 (en) * | 2001-10-05 | 2007-01-09 | Smc Kabushiki Kaisha | System for and method of selecting pneumatic device, and recording medium |
WO2003093781A2 (en) * | 2002-05-03 | 2003-11-13 | Burke E Porter Machinery Company | Method of measuring a propensity of a vehicle to roll over |
JP4391785B2 (ja) * | 2003-09-30 | 2009-12-24 | 三菱ふそうトラック・バス株式会社 | 車両のロールオーバ抑制制御装置 |
JP4228864B2 (ja) * | 2003-09-30 | 2009-02-25 | 三菱ふそうトラック・バス株式会社 | 車両のロールオーバ抑制制御装置 |
US7222007B2 (en) * | 2004-01-07 | 2007-05-22 | Ford Global Technologies, Llc | Attitude sensing system for an automotive vehicle relative to the road |
WO2005082680A1 (de) * | 2004-03-01 | 2005-09-09 | Continental Teves Ag & Co.Ohg | Vorrichtung zum ermitteln einer kipptendenz |
US7451032B2 (en) * | 2004-06-02 | 2008-11-11 | Ford Global Technologies, Llc | System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system |
WO2006026259A1 (en) * | 2004-08-26 | 2006-03-09 | Kelsey-Hayes Company | Vehicle roll mitigation through wheel slip controls |
US7640081B2 (en) * | 2004-10-01 | 2009-12-29 | Ford Global Technologies, Llc | Roll stability control using four-wheel drive |
US7239952B2 (en) * | 2004-12-08 | 2007-07-03 | Continental Teves, Inc. | Reduced order parameter identification for vehicle rollover control system |
US20060184300A1 (en) * | 2005-02-11 | 2006-08-17 | Schubert Peter J | Vehicle rollover detection method based on differential z-axis acceleration |
FR2884311A1 (fr) * | 2005-04-12 | 2006-10-13 | Renault Sas | Procede d'estimation de la pente et du devers d'une route a partir d'un vehicule automobile, et dispositif de mise en oeuvre |
JP4639925B2 (ja) * | 2005-04-21 | 2011-02-23 | 株式会社アドヴィックス | 車両のローリング運動安定化制御装置 |
US7873459B2 (en) * | 2005-07-29 | 2011-01-18 | Ford Global Technologies, Llc | Load transfer adaptive traction control system |
DE102005037478A1 (de) * | 2005-08-09 | 2007-02-15 | Bayerische Motoren Werke Ag | Betriebsverfahren für ein einachsiges Wankstabilisierungssystem eines zweiachsigen, zweispurigen Fahrzeugs |
US7600826B2 (en) * | 2005-11-09 | 2009-10-13 | Ford Global Technologies, Llc | System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls |
US8191975B2 (en) * | 2005-12-15 | 2012-06-05 | Bendix Commercial Vehicle Systems Llc | Single channel roll stability system |
FR2895314B1 (fr) * | 2005-12-23 | 2008-02-15 | Renault Sas | Procede et dispositif de commande d'un systeme anti-roulis pour vehicule automobile. |
US7386382B2 (en) * | 2006-01-09 | 2008-06-10 | Deere & Company | Steering compensated speed override for vehicle drive system |
JP5011866B2 (ja) | 2006-01-23 | 2012-08-29 | 日産自動車株式会社 | 横すべり角推定装置、自動車、及び横すべり角推定方法 |
US7970512B2 (en) | 2006-08-30 | 2011-06-28 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system with pitch information |
FR2908727B1 (fr) * | 2006-11-21 | 2009-07-17 | Renault Sas | Syteme et procede de commande de braquage des roues arriere d'un vihicule automobile muni de quatre roues directrices |
US7573375B2 (en) * | 2007-05-02 | 2009-08-11 | Paccar Inc | Rollover prediction and warning method |
JP4724163B2 (ja) * | 2007-09-14 | 2011-07-13 | 株式会社豊田中央研究所 | 車体速度推定装置 |
US7917274B2 (en) * | 2007-10-19 | 2011-03-29 | Advics Co., Ltd. | Method and apparatus for vehicle sway detection and reduction |
GB2454223B (en) * | 2007-11-01 | 2011-09-21 | Haldex Brake Products Ltd | Vehicle stability control method |
US7894958B2 (en) * | 2008-02-11 | 2011-02-22 | Caterpillar Inc | Traction control system |
US20100023216A1 (en) * | 2008-07-24 | 2010-01-28 | Gm Global Technology Operations, Inc | Adaptive vehicle control system with driving style recognition based on vehicle left/right turns |
US20100209884A1 (en) * | 2009-02-18 | 2010-08-19 | Gm Global Technology Operations, Inc. | Driving skill recognition based on vehicle left and right turns |
US8521468B2 (en) * | 2010-08-25 | 2013-08-27 | GM Global Technology Operations LLC | Diagnostic method for use with a vehicle dynamic control system (VDCS) |
EP2543552B1 (en) | 2011-07-04 | 2020-05-06 | Veoneer Sweden AB | A vehicle safety system |
US9463678B2 (en) * | 2012-02-15 | 2016-10-11 | Floor Master | System for reducing roll and pitch in a moving vehicle |
DE102012209839A1 (de) * | 2012-06-12 | 2013-12-12 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ermittlung eines auftretenden Überschlags eines Fahrzeugs |
KR102002334B1 (ko) * | 2012-11-20 | 2019-07-23 | 현대모비스 주식회사 | 차선 유지 제어 장치 |
GB2519947A (en) * | 2013-10-29 | 2015-05-13 | Autoliv Dev | A vehicle safety system |
US9440632B2 (en) * | 2014-11-05 | 2016-09-13 | Bendix Commercial Vehicle Systems Llc | Method, controller and system for monitoring brake operation |
JP2017114342A (ja) * | 2015-12-24 | 2017-06-29 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | ウイリー制御装置及びその制御方法 |
US9841765B2 (en) | 2016-03-14 | 2017-12-12 | Ford Global Technologies, Llc | Curb detection for vehicle parking |
IT201800005950A1 (it) * | 2018-06-01 | 2019-12-01 | Metodo di controllo di un impianto frenante di un veicolo e relativo sistema | |
DE102018119574A1 (de) * | 2018-08-13 | 2020-02-13 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Umkippverhinderungsvorrichtung und Verfahren zum Verhindern eines Umkippens eines Fahrzeugs und Fahrzeug |
US11654956B2 (en) * | 2019-12-23 | 2023-05-23 | Robert Bosch Gmbh | Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control |
CN112345147B (zh) * | 2020-10-30 | 2021-12-24 | 广东科学技术职业学院 | 一种汽车四轮侧向力检测仪 |
JP2022149388A (ja) * | 2021-03-25 | 2022-10-06 | 本田技研工業株式会社 | 電動サスペンション装置 |
Family Cites Families (105)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2917126A (en) | 1957-04-04 | 1959-12-15 | Nolan Phillips | Driving control safety mechanism for tractors |
US3604273A (en) | 1968-11-25 | 1971-09-14 | Aviat Electric Ltd | Angular rate sensor |
US3608925A (en) | 1969-05-07 | 1971-09-28 | Peter H Murphy | Apparatus for offsetting centrifugal force affecting motor vehicles |
US3899028A (en) | 1972-03-30 | 1975-08-12 | Systron Donner Corp | Angular position sensing and control system, apparatus and method |
US4023864A (en) | 1973-09-20 | 1977-05-17 | Lang Davis Industries, Inc. | Automatic stability control system with strain gauge sensors |
US3972543A (en) | 1974-12-06 | 1976-08-03 | The Bendix Corporation | Combination vehicle yaw stabilizer |
US3948567A (en) | 1975-02-12 | 1976-04-06 | The Bendix Corporation | Sway control means for a trailer |
USRE30550E (en) | 1975-11-06 | 1981-03-24 | Durrell U. Howard | Automatic trailer sway sensing and brake applying system |
JPS6015015B2 (ja) | 1979-06-29 | 1985-04-17 | 株式会社 レオ技研 | 路面水分検知装置 |
JPS58152793A (ja) | 1982-03-05 | 1983-09-10 | ティー・シー・エム株式会社 | 運搬車両の横転防止装置 |
JPS60163770A (ja) | 1984-02-02 | 1985-08-26 | Honda Motor Co Ltd | 車両の操舵装置 |
US4592565A (en) | 1984-10-17 | 1986-06-03 | Leo Eagle | Apparatus for detecting an overturning moment in a moving vehicle, and jackknifing in a trailer-truck combination |
JPH06104455B2 (ja) | 1985-03-15 | 1994-12-21 | 日産自動車株式会社 | 車両運動状態推定装置 |
US4650212A (en) | 1985-03-20 | 1987-03-17 | Mazda Motor Corporation | Vehicle suspension system |
EP0198450B1 (en) | 1985-04-13 | 1988-12-21 | Nissan Motor Co., Ltd. | Vehicle control system for controlling side slip angle and yaw rate gain |
JP2532059B2 (ja) | 1985-09-13 | 1996-09-11 | 日産自動車株式会社 | 車両のサスペンシヨン制御装置 |
JPH0629039B2 (ja) | 1986-01-10 | 1994-04-20 | 日産自動車株式会社 | 車両運動状態量推定装置 |
DE3606797C2 (de) | 1986-03-01 | 2000-11-23 | Bosch Gmbh Robert | Vorrichtung und Verfahren zur Steuerung, insbesondere zur Begrenzung, der Fahrgeschwindigkeit eines Straßenfahrzeuges |
US4761022A (en) | 1986-03-08 | 1988-08-02 | Toyota Jidosha Kabushiki Kaisha | Suspension controller for improved turning |
JPH0694253B2 (ja) | 1986-03-17 | 1994-11-24 | トヨタ自動車株式会社 | 車輌用ロ−ル制御装置 |
JPS62291067A (ja) | 1986-06-10 | 1987-12-17 | Nec Corp | 薄膜トランジスタの製造方法 |
JPH0829649B2 (ja) | 1987-03-31 | 1996-03-27 | 日産自動車株式会社 | 能動型サスペンシヨン装置 |
DE3821610A1 (de) | 1988-06-27 | 1989-12-28 | Bayerische Motoren Werke Ag | Regelungseinrichtung zur wankstabilisierung eines fahrzeugs |
JPS6432918A (en) | 1987-07-28 | 1989-02-02 | Mitsubishi Motors Corp | Active suspension controller |
DE3826982C2 (de) | 1987-08-10 | 2000-11-30 | Denso Corp | Hilfslenksystem verbunden mit einem Antiblockiersteuerungssystem zur Verwendung in Kraftfahrzeugen |
EP0312096B1 (en) | 1987-10-15 | 1992-12-30 | Mazda Motor Corporation | Friction detecting device for vehicles |
JPH01122716A (ja) | 1987-11-05 | 1989-05-16 | Hitachi Ltd | 自動車のアクティブサスペンション制御方式 |
DE3738221A1 (de) | 1987-11-11 | 1989-06-08 | Bayerische Motoren Werke Ag | Verfahren und einrichtung zum erkennen des zustandes einer strasse |
JP2618250B2 (ja) | 1987-12-22 | 1997-06-11 | 富士重工業株式会社 | トラクション制御装置 |
DE3804587A1 (de) | 1988-02-13 | 1989-08-24 | Daimler Benz Ag | Zusatzlenkung |
DE3805589A1 (de) | 1988-02-23 | 1989-08-31 | Lucas Ind Plc | Verfahren und vorrichtung zum steuern einer bremsanlage fuer schwerfahrzeuge |
US4898431A (en) | 1988-06-15 | 1990-02-06 | Aisin Seiki Kabushiki Kaisha | Brake controlling system |
US5313389A (en) | 1988-09-13 | 1994-05-17 | Aisin Seiki Kabushiki Kaisha | Fail-safe mechanism for vehicle stability augmentation steering system |
JP2768710B2 (ja) | 1988-09-17 | 1998-06-25 | ローベルト・ボッシュ・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング | 車両の搭乗者を保護する保護装置を起動する装置 |
JP2565384B2 (ja) | 1988-09-30 | 1996-12-18 | 富士重工業株式会社 | 自動車用アクティブサスペンションの制御装置 |
GB8825540D0 (en) | 1988-11-01 | 1988-12-07 | Jaguar Cars | Air bag restraint systems |
JPH0732331Y2 (ja) | 1989-01-18 | 1995-07-26 | 日産自動車株式会社 | 車両の操舵制御装置 |
US4998593A (en) | 1989-03-31 | 1991-03-12 | Aisin Seiki Kabushiki Kaisha | Steering and brake controlling system |
US5239868A (en) | 1989-05-19 | 1993-08-31 | Matsushita Electric Industrial Co., Ltd. | Angular rate detecting device |
JP2867448B2 (ja) | 1989-08-11 | 1999-03-08 | 株式会社日立製作所 | アクティブサスペンション制御装置 |
JPH0396468A (ja) | 1989-09-07 | 1991-04-22 | Honda Motor Co Ltd | 車体の前後加・減速度推定方法 |
JPH0833408B2 (ja) | 1990-03-29 | 1996-03-29 | 株式会社日立製作所 | 角度検出装置と並進加速度検出装置並びに自動車制御装置 |
US5265020A (en) | 1990-04-20 | 1993-11-23 | Mazda Motor Corporation | Torque distribution control apparatus for four wheel drive |
JP2762711B2 (ja) | 1990-07-02 | 1998-06-04 | 日産自動車株式会社 | 車両の制動挙動補償装置 |
JP2600986B2 (ja) | 1990-07-06 | 1997-04-16 | 三菱自動車工業株式会社 | 後輪の操舵制御方法 |
GB2251412B (en) * | 1990-11-29 | 1995-05-10 | Fuji Heavy Ind Ltd | Method and system for controlling a vehicle suspension system |
JP2679415B2 (ja) | 1990-12-21 | 1997-11-19 | 日産自動車株式会社 | 車両の制動力左右配分制御装置 |
DE4201146C2 (de) | 1991-01-18 | 2003-01-30 | Hitachi Ltd | Vorrichtung zur Steuerung des Kraftfahrzeugverhaltens |
DE4121954A1 (de) | 1991-07-03 | 1993-01-07 | Bosch Gmbh Robert | Verfahren zur gewinnung der giergeschwindigkeit und/oder quergeschwindigkeit |
US5282134A (en) | 1991-08-19 | 1994-01-25 | Automotive Systems Laboratory, Inc. | Slant transform/signal space crash discriminator |
US5324102A (en) | 1991-10-18 | 1994-06-28 | Fag Kugelfischer Georg Schafer Kgaa | Method and apparatus for regulating the braking force of motorcycles |
US5335176A (en) | 1991-12-02 | 1994-08-02 | Koyo Seiko Co., Ltd. | Safety system for vehicles |
JP3197330B2 (ja) | 1992-04-10 | 2001-08-13 | 本田技研工業株式会社 | 車両の駆動力制御装置 |
US5548536A (en) | 1992-05-16 | 1996-08-20 | Daimler-Benz Ag | Method for determining quantities which characterize the driving behavior |
DE4226746C1 (de) | 1992-08-13 | 1993-10-07 | Daimler Benz Ag | Verfahren zur Bestimmung eines fahrsituationsabhängigen Lenkwinkels |
DE4228893B4 (de) | 1992-08-29 | 2004-04-08 | Robert Bosch Gmbh | System zur Beeinflussung der Fahrdynamik eines Kraftfahrzeugs |
US5278761A (en) | 1992-11-12 | 1994-01-11 | Ford Motor Company | Method for vehicular wheel spin control that adapts to different road traction characteristics |
JP2882232B2 (ja) | 1993-03-17 | 1999-04-12 | 三菱自動車工業株式会社 | 車体重心スリップ角計測装置 |
JP3303500B2 (ja) | 1994-02-02 | 2002-07-22 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
DE4405379A1 (de) | 1994-02-19 | 1995-08-24 | Bosch Gmbh Robert | Fahrdynamikregelsystem |
KR950028978A (ko) | 1994-04-06 | 1995-11-22 | 전성원 | 급경사 및 급커브 주행시의 시프트패턴 제어장치 및 그 방법 |
KR100207106B1 (ko) | 1994-04-06 | 1999-07-15 | 정몽규 | 자동차 주행도로의 기울기 측정장치 및 그 방법 |
US5446658A (en) | 1994-06-22 | 1995-08-29 | General Motors Corporation | Method and apparatus for estimating incline and bank angles of a road surface |
JP3116738B2 (ja) | 1994-07-28 | 2000-12-11 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
US5610575A (en) | 1994-08-25 | 1997-03-11 | Automotive Systems Laboratory, Inc. | Method and system for detecting vehicle roll-over |
US5602734A (en) | 1994-09-23 | 1997-02-11 | Advanced Safety Concepts, Inc. | Automobile air bag systems |
JP3050061B2 (ja) | 1994-10-25 | 2000-06-05 | トヨタ自動車株式会社 | 乗員拘束装置 |
US5732379A (en) | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Brake system for a motor vehicle with yaw moment control |
US5732378A (en) | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Method for determining a wheel brake pressure |
DE19549800B4 (de) | 1994-11-25 | 2017-03-09 | Continental Teves Ag & Co. Ohg | Fahrstabilitätseinrichtung für ein Fahrzeug |
US5732377A (en) | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters |
US5549328A (en) | 1995-01-17 | 1996-08-27 | Gabriel Ride Control Products, Inc. | Roll control system |
JPH08258588A (ja) | 1995-03-27 | 1996-10-08 | Mazda Motor Corp | 車両における路面状態検出装置 |
JP3463415B2 (ja) | 1995-06-22 | 2003-11-05 | 日産自動車株式会社 | 車両のヨーイング挙動制御装置 |
US5648903A (en) | 1995-07-10 | 1997-07-15 | Ford Global Technologies, Inc. | Four wheel steering control utilizing front/rear tire longitudinal slip difference |
FI108084B (fi) | 1995-09-08 | 2001-11-15 | Vaisala Oyj | Menetelmä ja laite tien pinnan ominaisuuksien mittaamiseksi |
JP3248411B2 (ja) | 1995-10-11 | 2002-01-21 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3248413B2 (ja) | 1995-10-18 | 2002-01-21 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3008833B2 (ja) | 1995-10-25 | 2000-02-14 | トヨタ自動車株式会社 | 車体の横滑り速度推定装置 |
JP3627325B2 (ja) | 1995-11-17 | 2005-03-09 | アイシン精機株式会社 | 車両の運動制御装置 |
JP3533420B2 (ja) | 1995-12-05 | 2004-05-31 | トヨタ自動車株式会社 | ブレーキ制御装置 |
AUPN786796A0 (en) | 1996-02-05 | 1996-02-29 | Verward Pty Ltd (trading as Brooks Merchants) | Vehicle seat |
US5787375A (en) | 1996-04-01 | 1998-07-28 | Ford Global Technologies, Inc. | Method for determining steering position of automotive steering mechanism |
US5809434A (en) | 1996-04-26 | 1998-09-15 | Ford Global Technologies, Inc. | Method and apparatus for dynamically determically determining an operating state of a motor vehicle |
US5742919A (en) | 1996-04-26 | 1998-04-21 | Ford Global Technologies, Inc. | Method and apparatus for dynamically determining a lateral velocity of a motor vehicle |
US5742918A (en) | 1996-04-26 | 1998-04-21 | Ford Global Technologies, Inc. | Method and apparatus for dynamically compensating a lateral acceleration of a motor vehicle |
JPH09315277A (ja) | 1996-05-31 | 1997-12-09 | Unisia Jecs Corp | 車両運動制御装置 |
US5707117A (en) | 1996-07-19 | 1998-01-13 | General Motors Corporation | Active brake control diagnostic |
DE19634728C1 (de) | 1996-08-28 | 1998-04-02 | Daimler Benz Ag | Fahrzeuglenkung |
US5878357A (en) | 1996-09-03 | 1999-03-02 | Ford Global Technologies, Inc. | Method and apparatus for vehicle yaw rate estimation |
US5720533A (en) | 1996-10-15 | 1998-02-24 | General Motors Corporation | Brake control system |
JPH10119743A (ja) | 1996-10-23 | 1998-05-12 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JPH10129439A (ja) | 1996-10-25 | 1998-05-19 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
US5723782A (en) | 1996-11-29 | 1998-03-03 | Bolles, Jr.; Robert C. | Method of land vehicle suspension evaluation and design through roll angle analysis |
DE19650691C2 (de) | 1996-12-07 | 1998-10-29 | Deutsch Zentr Luft & Raumfahrt | Verfahren zur Lenkunterstützung eines Fahrers eines Straßenfahrzeugs |
US5825284A (en) | 1996-12-10 | 1998-10-20 | Rollover Operations, Llc | System and method for the detection of vehicle rollover conditions |
US5736939A (en) | 1996-12-11 | 1998-04-07 | Caterpillar Inc. | Apparatus and method for determing a condition of a road |
US5971503A (en) | 1998-02-03 | 1999-10-26 | Ford Global Technologies, Inc. | Hydraulic control unit with ambient temperature compensation during fluid pressure delivery |
US6002974A (en) | 1998-02-06 | 1999-12-14 | Delco Electronics Corporation | Vehicle rollover sensing using extended kalman filter |
US5946644A (en) | 1998-03-30 | 1999-08-31 | Chrysler Corporation | Steering center indicator device |
US6292759B1 (en) * | 1998-11-19 | 2001-09-18 | Delphi Technologies, Inc. | Vehicle attitude angle estimation using sensed signal blending |
US6263261B1 (en) * | 1999-12-21 | 2001-07-17 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
US6324446B1 (en) * | 1999-12-21 | 2001-11-27 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
DE10025260B4 (de) * | 2000-05-22 | 2004-11-25 | Conti Temic Microelectronic Gmbh | Verfahren zur Detektion von Überrollvorgängen bei Kraftfahrzeugen mit Sicherheitseinrichtungen |
US6356188B1 (en) * | 2000-09-25 | 2002-03-12 | Ford Global Technologies, Inc. | Wheel lift identification for an automotive vehicle |
-
2003
- 2003-06-27 US US10/609,447 patent/US6904350B2/en not_active Expired - Fee Related
- 2003-07-31 JP JP2003311983A patent/JP2004131071A/ja active Pending
- 2003-07-31 EP EP03254817A patent/EP1386805B1/en not_active Expired - Fee Related
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008546586A (ja) * | 2005-06-21 | 2008-12-25 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | モータ化単線車両の駆動動的制御方法と駆動動的制御器 |
KR101857035B1 (ko) * | 2016-04-26 | 2018-05-15 | 현대자동차주식회사 | 주행 정보 최적화를 통한 차량 전복 감지 시스템 |
US10328878B2 (en) | 2016-04-26 | 2019-06-25 | Hyundai Motor Company | Vehicle rollover sensing system using driving information for optimization |
Also Published As
Publication number | Publication date |
---|---|
US6904350B2 (en) | 2005-06-07 |
US20040030473A1 (en) | 2004-02-12 |
EP1386805A2 (en) | 2004-02-04 |
EP1386805B1 (en) | 2011-06-29 |
EP1386805A3 (en) | 2004-04-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP2004131071A (ja) | 車輪接地および車輪浮上がり状態を動的に決定するための方法並びにそれらの横揺れ安定性制御への応用 | |
JP2004131070A (ja) | 自動車用車輪浮上がりおよび接地の確認 | |
JP2009269594A (ja) | 自動車用車輪浮上がりおよび接地の確認 | |
EP1386806B1 (en) | Wheel lift identification for an automotive vehicle using passive and active detection | |
US7233236B2 (en) | Passive wheel lift identification for an automotive vehicle using operating input torque to wheel | |
US8219282B2 (en) | System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system | |
US6593849B2 (en) | Wheel lift identification for an automotive vehicle | |
US6631317B2 (en) | Attitude sensing system for an automotive vehicle | |
US7136731B2 (en) | System for determining vehicular relative roll angle during a potential rollover event | |
US20060089771A1 (en) | System and method for qualitatively determining vehicle loading conditions | |
US20060085112A1 (en) | System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | |
US7263436B2 (en) | Method and device for ascertaining the center-of-gravity height of a vehicle | |
EP1386807B1 (en) | System and method for determining a wheel departure angle for a rollover control system | |
GB2434127A (en) | A method for dynamically determining axle loadings of a movingvehicle | |
GB2414815A (en) | Determining lateral velocity and yaw rate of a vehicle | |
JP2008503389A (ja) | 車両を安定させるための装置及び方法 | |
JP2007523780A (ja) | 転覆安定化のための方法およびビークルダイナミクス制御システム | |
EP1386808B1 (en) | System and method for characterizing vehicle body to road angle for vehicle roll stability control | |
EP1386801B1 (en) | System and method for characterizing the road bank for vehicle roll stability control | |
JP3748334B2 (ja) | 車両の姿勢制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20060216 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070619 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20070919 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20070925 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20071019 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20071024 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20071119 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20071122 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20071218 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20080822 |