JP5147813B2 - 連結車の安定化装置および方法 - Google Patents
連結車の安定化装置および方法 Download PDFInfo
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- JP5147813B2 JP5147813B2 JP2009255692A JP2009255692A JP5147813B2 JP 5147813 B2 JP5147813 B2 JP 5147813B2 JP 2009255692 A JP2009255692 A JP 2009255692A JP 2009255692 A JP2009255692 A JP 2009255692A JP 5147813 B2 JP5147813 B2 JP 5147813B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
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- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
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- 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
- B60T2230/06—Tractor-trailer swaying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/874—Combination of several systems for attitude determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/872—Combination of several systems for attitude determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93275—Sensor installation details in the bumper area
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
1a 自動車の後部側
2 トレーラ
2a 正面壁
3 超音波センサ
4 制御装置(評価装置)
10a 自動車の縦軸
10b トレーラの縦軸
11 バンパ
12 トレーラ連結装置
13 連結棒
15 アナンシエータ
16 ブレーキ制御装置
Claims (9)
- トラクタ(1)とトレーラ(2)とからなる連結車の安定化装置であって、トラクタの一カ所からトラクタの後方配置対象物までの間隔を表わす少なくとも1つの間隔値(AL,AR)を決定する決定手段(3,4)を有し、前記決定手段はトラクタの後方部分(1a)に設けられている少なくとも1つの測定手段(3)を有する、前記連結車の安定化装置において、
トラクタにトレーラが連結されていない場合、割込み駐車過程を支援するために少なくとも1つの間隔値が評価され、
トラクタにトレーラが連結されている場合、トレーラの不安定性を表すトラクタの縦軸に関するトレーラの振り子揺動を決定する際に、
(1)トラクタの速度を表わす速度値が第1のしきい値より大きいとき、且つ
(2)少なくとも1つの間隔値(AL,AR)の振幅を表わす第1の振幅値が第2のしきい値より大きいとき、前記少なくとも1つの間隔値(AL,AR)の周波数を表す第1の周波数が第3のしきい値より大きいとき、及び前記少なくとも1つの間隔値(AL,AR)の振幅を表わす第1の振幅値が第2のしきい値より大きく且つ前記少なくとも1つの間隔値(AL,AR)の周波数を表す第1の周波数が第3のしきい値より大きいとき、のうちのいずれかのとき、
トレーラの不安定性が存在すると決定され、
不安定性が存在するとき、連結車を安定化させるために少なくともブレーキ係合、機関係合、及びこれら両方の係合のうちのいずれかの係合が行われること、及び不安定性が存在するとき、アナンシエータ(15)が操作されること、のうちのいずれか又はこれら両方が行われる、
連結車の安定化装置。 - トラクタ(1)とトレーラ(2)とからなる連結車の安定化装置であって、トラクタの一カ所からトラクタの後方配置対象物までの間隔を表わす少なくとも1つの間隔値(AL,AR)を決定する決定手段(3,4)を有し、前記決定手段はトラクタの後方部分(1a)に設けられている少なくとも1つの測定手段(3)を有する、前記連結車の安定化装置において、
トラクタにトレーラが連結されていない場合、割込み駐車過程を支援するために少なくとも1つの間隔値が評価され、
前記決定手段が2つの測定手段を有し、各測定手段により間隔値(AL,AR)が決定され、
トラクタの縦軸(10a)とトレーラの縦軸(10b)とにより形成される角度を表わす角度値(W)が、両方の間隔値(AL,AR)の関数として決定され、
トラクタにトレーラが連結されている場合、トレーラの不安定性を表すトラクタの縦軸に関するトレーラの振り子揺動を決定する際に、
(1)トラクタの速度を表わす速度値が第1のしきい値より大きいとき、且つ
(2)前記角度値(W)の振幅を表わす第2の振幅値(AW)が第4のしきい値より大きいとき、前記角度値(W)の周波数を表わす第2の周波数値(fW)が第5のしきい値より大きいとき、及び前記角度値(W)の振幅を表わす第2の振幅値(AW)が第4のしきい値より大きく且つ前記角度値(W)の周波数を表わす第2の周波数値(fW)が第5のしきい値より大きいとき、のうちのいずれかのとき、
トレーラの不安定性が存在すると決定され、
不安定性が存在するとき、連結車を安定化させるために少なくともブレーキ係合、機関係合、及びこれら両方の係合のうちのいずれかの係合が行われること、及び不安定性が存在するとき、アナンシエータ(15)が操作されること、のうちのいずれか又はこれら両方が行われる、
連結車の安定化装置。 - トレーラの不安定性が消滅したかどうかが決定され、
不安定性が消滅した場合、ブレーキ係合、機関係合、及びブレーキ係合且つ機関係合、のうちのいずれも行われないか、又はこれらが終了される
ことを特徴とする請求項1に記載の装置。 - トレーラの不安定性が消滅したかどうかが決定され、
不安定性が消滅した場合、ブレーキ係合、機関係合、及びブレーキ係合且つ機関係合、のうちのいずれも行われないか、又はこれらが終了される
ことを特徴とする請求項2に記載の装置。 - 前記速度値が第1のしきい値より大きいとき、且つ
第1の振幅値が低下したとき、第1の周波数値が低下したとき、及び第1の振幅値が低下し且つ第1の周波数値が低下したときのうちのいずれかのとき、
トレーラの不安定性が消滅していることを特徴とする請求項1又は3に記載の装置。 - 前記速度値が第1のしきい値より大きいとき、且つ
第2の振幅値が低下したとき、第2の周波数値が低下したとき、及び第2の振幅値が低下し且つ第2の周波数値が低下したときのうちのいずれかのとき、
トレーラの不安定性が消滅していることを特徴とする請求項2又は4に記載の装置。 - トレーラが連結されているかどうかを検出するためにトレーラのストップランプ・ラインがトラクタに接続されているかどうかが決定されること、所定の走行状況における少なくとも1つの間隔値が予め既知の特性を示しているかどうかが決定されること、及びトレーラが連結されているかどうかを検出するためにトレーラのストップランプ・ラインがトラクタに接続されているかどうかが決定され且つ所定の走行状況における少なくとも1つの間隔値が予め既知の特性を示しているかどうかが決定されること、のうちのいずれかが行われ、
車両速度を表わす値が対応しきい値より大きいとき、トレーラの不安定性を決定するために少なくとも1つの間隔値が評価される
ことを特徴とする請求項1又は2記載の装置。 - トラクタ(1)とトレーラ(2)とからなる連結車の安定化方法であって、装置がトラクタの一カ所からトラクタの後方配置対象物までの間隔を表わす少なくとも1つの間隔値(AL,AR)を決定する決定手段(3,4)を有し、前記決定手段がトラクタの後方部分(1a)に設けられている少なくとも1つの測定手段(3)を有する、前記装置を用いた、前記連結車の安定化方法において、
トラクタにトレーラが連結されていない場合、割込み駐車過程を支援するために少なくとも1つの間隔値を評価する方法ステップと、
トラクタにトレーラが連結されている場合、トレーラの不安定性を表すトラクタの縦軸に関するトレーラの振り子揺動を決定する際に、
(1)トラクタの速度を表わす速度値が第1のしきい値より大きいとき、且つ
(2)少なくとも1つの間隔値(AL,AR)の振幅を表わす第1の振幅値が第2のしきい値より大きいとき、前記少なくとも1つの間隔値(AL,AR)の周波数を表す第1の周波数が第3のしきい値より大きいとき、及び前記少なくとも1つの間隔値(AL,AR)の振幅を表わす第1の振幅値(AL,AR)が第2のしきい値より大きく且つ前記少なくとも1つの間隔値(AL,AR)の周波数を表す第1の周波数が第3のしきい値より大きいとき、のうちのいずれかのとき、
トレーラの不安定性が存在すると決定する方法ステップと、
不安定性が存在するとき、連結車を安定化させるために少なくともブレーキ係合、機関係合、及びこれら両方の係合のうちのいずれかの係合を行うこと、及び不安定性が存在するとき、アナンシエータ(15)を操作すること、のうちのいずれか又はこれら両方を行う方法ステップと
を備える連結車の安定化方法。 - トラクタ(1)とトレーラ(2)とからなる連結車の安定化方法であって、装置がトラクタの一カ所からトラクタの後方配置対象物までの間隔を表わす少なくとも1つの間隔値(AL,AR)を決定する決定手段(3,4)を有し、前記決定手段がトラクタの後方部分(1a)に設けられている少なくとも1つの測定手段(3)を有する、前記装置を用いた、前記連結車の安定化方法において、
トラクタにトレーラが連結されていない場合、割込み駐車過程を支援するために少なくとも1つの間隔値を評価する方法ステップと、
前記決定手段が2つの測定手段を有し、各測定手段により間隔値(AL,AR)が決定され、トラクタの縦軸(10a)とトレーラの縦軸(10b)とにより形成される角度を表わす角度値(W)を両方の間隔値(AL,AR)の関数として決定する方法ステップと、
トラクタにトレーラが連結されている場合、トレーラの不安定性を表すトラクタの縦軸に関するトレーラの振り子揺動を決定する際に、
(1)トラクタの速度を表わす速度値が第1のしきい値より大きいとき、且つ
(2)前記角度値(W)の振幅を表わす第2の振幅値(AW)が第4のしきい値より大きいとき、前記角度値(W)の周波数を表わす第2の周波数値(fW)が第5のしきい値より大きいとき、及び前記角度値(W)の振幅を表わす第2の振幅値(AW)が第4のしきい値より大きく且つ前記角度値(W)の周波数を表わす第2の周波数値(fW)が第5のしきい値より大きいとき、のうちのいずれかのとき、
トレーラの不安定性が存在すると決定する方法ステップと、
不安定性が存在するとき、連結車を安定化させるために少なくともブレーキ係合、機関係合、及びこれら両方の係合のうちのいずれかの係合を行うこと、及び不安定性が存在するとき、アナンシエータ(15)を操作すること、のうちのいずれか又はこれら両方を行う方法ステップと
を備える連結車の安定化方法。
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US6252497B1 (en) * | 1997-10-16 | 2001-06-26 | Holland Hitch Company | Coupling alignment warning system |
WO1999051996A1 (en) * | 1998-04-02 | 1999-10-14 | Westinghouse Air Brake Company | Method and apparatus for detecting harmonic rocking in railcars |
JPH11348695A (ja) * | 1998-06-09 | 1999-12-21 | Nec Corp | 後方車両検知装置 |
GB2344481B (en) * | 1998-12-05 | 2001-02-21 | Terence Boddy | Auto park |
JP2002053082A (ja) * | 2000-05-30 | 2002-02-19 | Isuzu Motors Ltd | トレーラ連結角検出装置 |
-
1999
- 1999-01-20 DE DE19901953.3A patent/DE19901953B4/de not_active Expired - Fee Related
- 1999-11-29 GB GB9928190A patent/GB2346495B/en not_active Expired - Fee Related
- 1999-12-20 US US09/468,006 patent/US6446998B1/en not_active Expired - Fee Related
-
2000
- 2000-01-13 FR FR0000372A patent/FR2788612B1/fr not_active Expired - Fee Related
- 2000-01-18 JP JP2000008624A patent/JP4447098B2/ja not_active Expired - Fee Related
-
2009
- 2009-11-09 JP JP2009255692A patent/JP5147813B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2000211559A (ja) | 2000-08-02 |
FR2788612B1 (fr) | 2004-04-16 |
DE19901953A1 (de) | 2000-07-27 |
FR2788612A1 (fr) | 2000-07-21 |
DE19901953B4 (de) | 2014-02-06 |
US6446998B1 (en) | 2002-09-10 |
GB2346495A (en) | 2000-08-09 |
GB9928190D0 (en) | 2000-01-26 |
GB2346495B (en) | 2002-03-06 |
JP4447098B2 (ja) | 2010-04-07 |
JP2010030591A (ja) | 2010-02-12 |
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