JP2006522315A - コンピュータを援用して車両の質量、とりわけ産業車両の質量を推定する方法及び装置 - Google Patents
コンピュータを援用して車両の質量、とりわけ産業車両の質量を推定する方法及び装置 Download PDFInfo
- Publication number
- JP2006522315A JP2006522315A JP2006501907A JP2006501907A JP2006522315A JP 2006522315 A JP2006522315 A JP 2006522315A JP 2006501907 A JP2006501907 A JP 2006501907A JP 2006501907 A JP2006501907 A JP 2006501907A JP 2006522315 A JP2006522315 A JP 2006522315A
- Authority
- JP
- Japan
- Prior art keywords
- mass
- vehicle
- computer
- force
- aid
- 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.)
- Granted
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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/086—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles wherein the vehicle mass is dynamically estimated
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/02—Vehicle mass
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Transmission Device (AREA)
Abstract
b)車両の質量m及び又はその逆数1/mを前記平衡関係の時間微分から計算するステップを有する。
Description
F=m・(a+g・sinα) (1)
ここで、
F 推進力
a 車両縦速度の時間微分
α 車道傾斜角度
g 重力加速度
m 車両質量
である。
Claims (12)
- 車両の質量、とりわけ産業車両の質量を、物理量として質量m及び車道傾斜角度αを含む推進抵抗と慣性力との和と推進力Fとの間の平衡関係に基づいて、コンピュータを援用して求める方法において、
a)前記傾斜角度αが一定であるとの仮定の下で、コンピュータを援用して前記平衡関係を時間に関して微分するステップと、
b)車両の質量m及び又はその逆数1/mを前記平衡関係の時間微分から計算するステップを有することを特徴とする、車両の質量をコンピュータを援用して求める方法。 - 前記推進抵抗は、質量mに依存する加速度力又は減速度力と、車道傾斜角度αに依存する傾斜力又は勾配力との和により形成される、請求項1記載の方法。
- 質量mを関係式m=(dF/dt)/(da/dt)から計算し、ここで、aは車両縦速度の時間微分であり、Fは車両の推進力である、請求項2記載の方法。
- 推進力Fならびに角度又は減速度aを測定量から求める、請求項3記載の方法。
- 前記測定量は車両の制御装置内で使用することができる、請求項4記載の方法。
- 前記測定量を信号品質に応じてフィルタリングする、請求項5記載の方法。
- 前記測定量を複数回測定し、測定値にそれぞれ異なる重み付けを行う、請求項4から6のいずれか1項記載の方法。
- コンピュータを援用した前記平衡関係の微分を連続して再帰法によって実行する、請求項1から7のいずれか1項記載の方法。
- 前記平衡関係のコンピュータを援用した微分を2点微分によって又は状態変数フィルタを用いて行う、請求項8記載の方法。
- 質量mとその逆数1/mを計算し、加重平均値を形成する、請求項1から9のいずれか1項記載の方法。
- コンピュータを援用して車両の質量、とりわけ、産業車両の質量を推定する装置において、
車両の質量m及び/又は質量mの逆数を慣性力と推進抵抗との和と推進力Fとの間の平衡関係から計算する計算ユニットを有しており、
該計算ユニットは計算量として質量mと車道傾斜角度αを受け取り、傾斜角度αが一定であるとの仮定の下で、コンピュータを援用して前記平衡関係を時間に関して微分することにより車両の質量m及び/又は質量mの逆数を計算する、
ことを特徴とするコンピュータを援用して車両の質量を推定する装置。 - 前記計算ユニットは車両の制御装置内に組み込まれている、請求項11記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10307511.9 | 2003-02-21 | ||
DE10307511A DE10307511B4 (de) | 2003-02-21 | 2003-02-21 | Verfahren und Vorrichtung zur computergestützten Schätzung der Masse eines Fahrzeugs, insbesondere eines Nutzfahrzeugs |
PCT/EP2004/001666 WO2004074057A1 (de) | 2003-02-21 | 2004-02-20 | Verfahren und vorrichtung zur computergestützten schätzung der masse eines fahrzeugs, insbesondere eines nutzfahrzeugs |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006522315A true JP2006522315A (ja) | 2006-09-28 |
JP5074023B2 JP5074023B2 (ja) | 2012-11-14 |
Family
ID=32891775
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006501907A Expired - Fee Related JP5074023B2 (ja) | 2003-02-21 | 2004-02-20 | コンピュータを援用して車両の質量、とりわけ産業車両の質量を推定する方法及び装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8412447B2 (ja) |
EP (1) | EP1597124B1 (ja) |
JP (1) | JP5074023B2 (ja) |
AT (1) | ATE518707T1 (ja) |
DE (1) | DE10307511B4 (ja) |
WO (1) | WO2004074057A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010249597A (ja) * | 2009-04-14 | 2010-11-04 | Sumitomo Rubber Ind Ltd | 車両質量推定装置、方法及びプログラム、並びに、タイヤ空気圧低下検出装置、方法及びプログラム |
JP7458252B2 (ja) | 2020-06-26 | 2024-03-29 | 日立Astemo株式会社 | 車両重量推定装置、車両及び車両重量推定方法 |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI119484B (fi) * | 2005-06-21 | 2008-11-28 | Valtion Teknillinen | Menetelmä ja laitteisto tiedon keräämiseksi raskaan liikenteen ajoneuvon kuormasta |
DE102005060857A1 (de) * | 2005-12-20 | 2007-06-28 | Robert Bosch Gmbh | Verfahren zur Plausibilisierung einer ermittelten Fahrzeugmasse |
DE102007052749A1 (de) | 2007-11-06 | 2009-05-07 | Robert Bosch Gmbh | Verfahren zum Detektieren von Radschlupf |
US7818140B2 (en) * | 2008-01-29 | 2010-10-19 | Zf Friedrichshafen Ag | System for estimating a vehicle mass |
DE102008042315A1 (de) * | 2008-09-24 | 2010-04-01 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Ermitteln einer Gesamtmasse eines Kraftfahrzeugs |
DE102010016551B4 (de) | 2010-04-21 | 2019-02-28 | Continental Reifen Deutschland Gmbh | Verfahren zum Überwachen oder Messen der Profiltiefe bei einem Fahrzeugreifen mit einem Reifenmodul |
SE536124C2 (sv) * | 2011-04-01 | 2013-05-14 | Scania Cv Ab | Skattning av vikt för ett fordon |
US8798887B2 (en) * | 2011-11-30 | 2014-08-05 | GM Global Technology Operations LLC | System and method for estimating the mass of a vehicle |
US10166980B2 (en) | 2013-02-28 | 2019-01-01 | Ford Global Technologies, Llc | Vehicle mass computation |
DE102013008839A1 (de) | 2013-05-24 | 2014-11-27 | Wabco Gmbh | Verfahren und Vorrichtung zum Bestimmen der Masse eines Kraftfahrzeugs und Kraftfahrzeug mit derartiger Vorrichtung |
DE102013011576B3 (de) * | 2013-07-11 | 2014-10-23 | Audi Ag | Verfahren zum Bestimmen der Masse eines an ein Zugfahrzeug angehängten Anhängers und zur Durchführung des Verfahrens geeignetes Kraftfahrzeug |
WO2015092476A1 (en) * | 2013-12-19 | 2015-06-25 | Volvo Truck Corporation | Method and vehicle with arrangement for estimating mass of the vehicle |
DE102014214464A1 (de) * | 2014-07-24 | 2016-01-28 | Robert Bosch Gmbh | Verfahren zur Bestimmung der Masse eines Hybridfahrzeugs |
DE102016205513A1 (de) * | 2016-04-04 | 2017-10-05 | Robert Bosch Gmbh | Verfahren zum Transportieren eines Gutes, mehrdimensionaler Antrieb und Verarbeitungsvorrichtung |
CN107310558A (zh) * | 2017-05-12 | 2017-11-03 | 北汽福田汽车股份有限公司 | 车辆质量的测量方法、装置和车辆 |
US10612961B2 (en) * | 2017-12-20 | 2020-04-07 | Gm Global Technology Operateons Llc | Method for real-time mass estimation of a vehicle system |
AU2019340667A1 (en) | 2018-09-13 | 2021-02-18 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
DE102020203815A1 (de) | 2020-03-24 | 2021-09-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Bestimmen der Masse eines sich bewegenden Fahrzeugs |
CN113561985A (zh) * | 2020-04-28 | 2021-10-29 | 厦门雅迅网络股份有限公司 | 一种车辆质量计算方法、终端设备及存储介质 |
DE102021107705A1 (de) | 2021-03-26 | 2022-09-29 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | System und Verfahren zur computergestützten Schätzung eines Werts für die Gesamtmasse eines Fahrzeugsystems |
US11525728B1 (en) | 2021-11-16 | 2022-12-13 | Geotab Inc. | Systems and methods for determining an estimated weight of a vehicle |
US12036998B2 (en) | 2022-10-04 | 2024-07-16 | Geotab Inc. | Systems and methods for determining an estimated weight of a vehicle |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002221442A (ja) * | 2001-01-24 | 2002-08-09 | Aisin Seiki Co Ltd | 車両重量推定装置 |
JP2002333365A (ja) * | 2001-05-09 | 2002-11-22 | Toyota Central Res & Dev Lab Inc | 車両質量算出装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4773013A (en) * | 1985-05-13 | 1988-09-20 | Loral Corporation | Digital antiskid control system |
DE4228413A1 (de) * | 1992-08-26 | 1994-03-03 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Bestimmung von Fahrzeugmasse und Fahrwiderstand |
DE19728867A1 (de) | 1997-07-05 | 1999-01-07 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ermittlung der Fahrzeugmasse |
DE19802630A1 (de) | 1998-01-24 | 1999-09-16 | Daimler Chrysler Ag | Vorrichtung zur Bestimmung der Masse eines Kraftfahrzeuges |
US6167357A (en) * | 1998-04-23 | 2000-12-26 | Cummins Engine Company, Inc. | Recursive vehicle mass estimation |
DE19837380A1 (de) * | 1998-08-18 | 2000-02-24 | Zahnradfabrik Friedrichshafen | Verfahren und Einrichtung zur Ermittlung der Masse eines Fahrzeuges |
DE19859022B4 (de) * | 1998-12-21 | 2008-02-07 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren und Vorrichtung zur Ermittlung einer nicht gemessenen Betriebsgröße, in deren Abhängigkeit ein Fahrzeug gesteuert wird |
US6633066B1 (en) | 2000-01-07 | 2003-10-14 | Samsung Electronics Co., Ltd. | CMOS integrated circuit devices and substrates having unstrained silicon active layers |
US6347269B1 (en) * | 2000-07-26 | 2002-02-12 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Vehicle mass calculation device |
DE10144699B4 (de) * | 2000-09-16 | 2014-06-12 | Volkswagen Ag | Verfahren zur Bestimmung der aktuellen Fahrzeugmasse |
US6567734B2 (en) * | 2001-08-23 | 2003-05-20 | Cummins, Inc. | System and method for estimating vehicle mass |
JP2003146154A (ja) * | 2001-11-15 | 2003-05-21 | Honda Motor Co Ltd | 車両状態量の推定方法 |
-
2003
- 2003-02-21 DE DE10307511A patent/DE10307511B4/de not_active Expired - Lifetime
-
2004
- 2004-02-20 WO PCT/EP2004/001666 patent/WO2004074057A1/de active Application Filing
- 2004-02-20 EP EP04713047A patent/EP1597124B1/de not_active Expired - Lifetime
- 2004-02-20 US US10/546,625 patent/US8412447B2/en active Active
- 2004-02-20 AT AT04713047T patent/ATE518707T1/de active
- 2004-02-20 JP JP2006501907A patent/JP5074023B2/ja not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002221442A (ja) * | 2001-01-24 | 2002-08-09 | Aisin Seiki Co Ltd | 車両重量推定装置 |
JP2002333365A (ja) * | 2001-05-09 | 2002-11-22 | Toyota Central Res & Dev Lab Inc | 車両質量算出装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010249597A (ja) * | 2009-04-14 | 2010-11-04 | Sumitomo Rubber Ind Ltd | 車両質量推定装置、方法及びプログラム、並びに、タイヤ空気圧低下検出装置、方法及びプログラム |
JP7458252B2 (ja) | 2020-06-26 | 2024-03-29 | 日立Astemo株式会社 | 車両重量推定装置、車両及び車両重量推定方法 |
Also Published As
Publication number | Publication date |
---|---|
DE10307511A1 (de) | 2004-09-23 |
WO2004074057A1 (de) | 2004-09-02 |
US8412447B2 (en) | 2013-04-02 |
DE10307511B4 (de) | 2004-12-09 |
EP1597124B1 (de) | 2011-08-03 |
US20060149424A1 (en) | 2006-07-06 |
ATE518707T1 (de) | 2011-08-15 |
JP5074023B2 (ja) | 2012-11-14 |
EP1597124A1 (de) | 2005-11-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5074023B2 (ja) | コンピュータを援用して車両の質量、とりわけ産業車両の質量を推定する方法及び装置 | |
US6339749B1 (en) | Device for determining the weight of a motor vehicle | |
KR101897628B1 (ko) | 고속 정상 주행상황에서의 타이어 노면 마찰계수 추정방법 및 타이어 노면 마찰계수 추정장치 | |
JP4087066B2 (ja) | 車両の質量の算出方法および装置 | |
JP4320406B2 (ja) | 路面上の車両の性能をシミュレートする方法 | |
US9278693B2 (en) | System and method for improving vehicle performance on grade | |
US6314383B1 (en) | Method and system for determining a vehicle mass | |
JP4829289B2 (ja) | 車両の姿勢安定制御方法及びその装置 | |
US8872645B2 (en) | Method for road grade estimation for enhancing the fuel economy index calculation | |
EP2295301A1 (en) | Road surface friction coefficient estimating device and road surface friction coefficient estimating method | |
JP4383668B2 (ja) | 始動段の決定方法 | |
US20160121903A1 (en) | Method and device for determining the mass of a motor vehicle, and a motor vehicle with a device of this type | |
JP4926850B2 (ja) | 車両の路面状態推定装置 | |
JPH0571622A (ja) | 自動変速機の制御装置 | |
JP2016182935A (ja) | 走行制御装置および走行制御方法 | |
CN112752694B (zh) | 估计车辆载荷的方法 | |
JP5237599B2 (ja) | 車両 | |
JP2008265545A (ja) | 車両の重心位置推定装置及び重心位置/ヨー慣性モーメント推定装置。 | |
JPH11351864A (ja) | 道路勾配推定装置 | |
JP2001516422A (ja) | 自動車の走行抵抗を表す量の検出方法および検出装置 | |
JP2002013620A (ja) | 車両質量推定装置 | |
KR101225536B1 (ko) | 4륜 구동 차량의 차량안전 시스템 제어방법 | |
JP4159811B2 (ja) | 路面摩擦係数の推定方法 | |
KR101194175B1 (ko) | 2륜 구동 차량의 차량안전 시스템 제어방법 | |
JP2003237560A (ja) | 最大路面摩擦係数推定装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20070131 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20100517 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20100519 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20100819 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20100826 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100917 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20101228 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110518 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20110815 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20110822 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120725 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120823 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5074023 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150831 Year of fee payment: 3 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |