JP6488986B2 - 路面状況推定装置 - Google Patents
路面状況推定装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/041—Analysing solids on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C19/00—Tyre parts or constructions not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C99/00—Subject matter not provided for in other groups of this subclass
-
- 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
- B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
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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
- B60T8/173—Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
- G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C19/00—Tyre parts or constructions not otherwise provided for
- B60C2019/004—Tyre sensors other than for detecting tyre pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
- B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
- B60W2050/0055—High-pass filters
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/90—Single sensor for two or more measurements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tire
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/263—Surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Tires In General (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Description
図1〜8を参照して、本実施形態にかかる路面状況推定装置について説明する。本実施形態にかかる路面状況推定装置は、車両の各車輪に備えられるタイヤの接地面における振動に基づいて走行中の路面状況を推定するものとして用いられる。
本発明の第2実施形態について説明する。本実施形態は、第1実施形態に対して接地区間特定部17の構成を変更したものであり、その他については第1実施形態と同様であるため、第1実施形態と異なる部分についてのみ説明する。
本発明の第3実施形態について説明する。本実施形態は、第2実施形態に対して接地区間特定部17に備えたスイッチ部17cと同様の機能を振動検出発電部11に備えたものであり、その他については第2実施形態と同様であるため、第2実施形態と異なる部分についてのみ説明する。
図13に示すように、振動検出発電部11の構成を変更しても良い。具体的には、ストッパー部112を第2錘部112bと梁部112cとによって構成している。梁部112cは、一端がパッケージ110における側壁110bに取り付けられており、他端に第2錘部112bが取り付けられている。
本発明は上記した実施形態に限定されるものではなく、特許請求の範囲に記載した範囲内において適宜変更が可能である。
Claims (2)
- 車両に備えられるタイヤ(3)のトレッド(31)の裏面に取り付けられ、前記タイヤの接線方向の振動を検出する部分と遠心力を検出する部分とを有し、前記接線方向の振動の大きさに応じた検出信号を出力する振動検出部(11)と、前記検出信号の高周波成分のレベルを算出する高周波レベル算出部(18)を有する信号処理部(13)と、前記高周波成分のレベルの算出結果を路面状況が表された路面状況データとして送信する送信機(14)と、を有するタイヤ側装置(1)と、
前記送信機から送信された前記路面状況データを受信する受信機(21)と、前記路面状況データに基づいて、前記タイヤの走行路面の路面状況を推定する路面状況推定部(22)と、を有する車両側装置(2)とを備え、
前記振動検出部は、前記遠心力を検出する部分によって前記遠心力が働いていることが検出されたときには前記タイヤの接線方向の振動を検出せず、前記遠心力を検出する部分によって前記遠心力が働いていないことが検出されたときにのみ前記タイヤの接線方向の振動を検出するものである路面状況推定装置。 - 前記振動検出部は、
前記タイヤ接線方向の振動を検出する部分として、前記タイヤの接線方向の振動に基づいて移動させられる第1錘部(111b)と該第1錘部が取り付けられることで該第1錘部の移動によって撓む梁部(111a)とを有し、前記梁部の撓みに応じて前記検出信号を出力するセンサ部(11)と、
前記遠心力を検出する部分として、前記タイヤの接線方向において、前記第1錘部の両側に配置されると共に前記遠心力に基づいて移動する第2錘部(112b)を備え、前記遠心力が働いているときには前記第2錘部によって前記第1錘部が挟持されることで前記第1錘部を拘束し、前記遠心力が働いていないときには前記第2錘部から前記第1錘部を開放するストッパー部(112)と、を有している請求項1に記載の路面状況推定装置。
Priority Applications (4)
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JP2015210985A JP6488986B2 (ja) | 2015-10-27 | 2015-10-27 | 路面状況推定装置 |
PCT/JP2016/078022 WO2017073211A1 (ja) | 2015-10-27 | 2016-09-23 | 路面状況推定装置 |
DE112016004908.0T DE112016004908B8 (de) | 2015-10-27 | 2016-09-23 | Straßenoberflächenzustands-Schätzvorrichtung |
US15/770,828 US10605780B2 (en) | 2015-10-27 | 2016-09-23 | Road surface condition estimation device |
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JP2015210985A JP6488986B2 (ja) | 2015-10-27 | 2015-10-27 | 路面状況推定装置 |
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JP6488986B2 true JP6488986B2 (ja) | 2019-03-27 |
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US (1) | US10605780B2 (ja) |
JP (1) | JP6488986B2 (ja) |
DE (1) | DE112016004908B8 (ja) |
WO (1) | WO2017073211A1 (ja) |
Families Citing this family (9)
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JP6365503B2 (ja) | 2015-10-27 | 2018-08-01 | 株式会社Soken | 路面状況推定装置 |
JP6551463B2 (ja) * | 2016-07-13 | 2019-07-31 | 株式会社デンソー | タイヤマウントセンサおよびそれを含む路面状態推定装置 |
JP6627670B2 (ja) * | 2016-07-13 | 2020-01-08 | 株式会社デンソー | タイヤマウントセンサおよびそれを含む路面状態推定装置 |
JP2018203017A (ja) * | 2017-06-02 | 2018-12-27 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP6946970B2 (ja) | 2017-11-23 | 2021-10-13 | 株式会社デンソー | 路面状態判別装置 |
CN108859957B (zh) * | 2018-08-31 | 2020-07-14 | 中国联合网络通信集团有限公司 | 一种安全驾驶辅助方法和***、车载服务器 |
CN111290051A (zh) * | 2020-04-08 | 2020-06-16 | 中国科学院西北生态环境资源研究院 | 一种沙漠气象监测装置及其监测方法 |
WO2021247016A1 (en) * | 2020-06-03 | 2021-12-09 | Sensata Technologies, Inc. | Detecting a condition of a road surface |
WO2023070309A1 (zh) * | 2021-10-26 | 2023-05-04 | 罗伯特•博世有限公司 | 用于检测路面不平度的检测方法和检测装置及程序产品 |
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EP2514640B1 (en) | 2001-12-21 | 2015-08-05 | Kabushiki Kaisha Bridgestone | Method and apparatus for estimation of road condition and tire running state, ABS and car control making use thereof |
JP2006142993A (ja) | 2004-11-19 | 2006-06-08 | Yokohama Rubber Co Ltd:The | 加速度センサ装着タイヤ |
JP4195054B2 (ja) | 2006-11-24 | 2008-12-10 | 横浜ゴム株式会社 | ブレーキ制御方法およびブレーキ制御装置 |
JP5012675B2 (ja) | 2008-06-04 | 2012-08-29 | 横浜ゴム株式会社 | タイヤの姿勢制御装置および方法 |
US7673505B2 (en) * | 2008-08-01 | 2010-03-09 | Infineon Technologies Ag | Tire footprint determination apparatuses, systems and methods |
DE102008046269B3 (de) | 2008-09-08 | 2009-12-24 | Continental Automotive Gmbh | Verfahren und Meßsystem zur Bestimmung einer Radlast |
DE102009005904A1 (de) * | 2009-01-23 | 2010-07-29 | Continental Automotive Gmbh | Verfahren und Vorrichtung zum kontinuierlichen Ermitteln von Radzustandsgrößen eines Rades |
JP5657917B2 (ja) | 2010-05-19 | 2015-01-21 | 株式会社ブリヂストン | 路面状態推定方法 |
JP5736948B2 (ja) * | 2011-05-13 | 2015-06-17 | 日産自動車株式会社 | タイヤ空気圧モニタシステム |
JP6103298B2 (ja) * | 2013-05-17 | 2017-03-29 | パナソニックIpマネジメント株式会社 | タイヤセンサシステム |
JP6273937B2 (ja) | 2014-03-18 | 2018-02-07 | 株式会社Soken | 路面状況推定装置 |
JP6281346B2 (ja) * | 2014-03-18 | 2018-02-21 | 株式会社Soken | 路面状況推定装置 |
JP6268645B2 (ja) | 2014-04-28 | 2018-01-31 | パナソニックIpマネジメント株式会社 | 照明用光源、および照明装置 |
JP6365503B2 (ja) | 2015-10-27 | 2018-08-01 | 株式会社Soken | 路面状況推定装置 |
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2016
- 2016-09-23 WO PCT/JP2016/078022 patent/WO2017073211A1/ja active Application Filing
- 2016-09-23 US US15/770,828 patent/US10605780B2/en active Active
- 2016-09-23 DE DE112016004908.0T patent/DE112016004908B8/de active Active
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JP2017083264A (ja) | 2017-05-18 |
US10605780B2 (en) | 2020-03-31 |
WO2017073211A1 (ja) | 2017-05-04 |
DE112016004908B8 (de) | 2022-12-01 |
US20180364197A1 (en) | 2018-12-20 |
DE112016004908B4 (de) | 2022-08-04 |
DE112016004908T5 (de) | 2018-07-12 |
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