JP7001009B2 - 風データ推定装置 - Google Patents
風データ推定装置 Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
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- 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
- B60W40/10—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 vehicle motion
- B60W40/107—Longitudinal acceleration
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- 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
- B60W40/08—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 drivers or passengers
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- 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
- B60W40/10—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 vehicle motion
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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
- B60W50/08—Interaction between the driver and the control system
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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
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B60—VEHICLES IN GENERAL
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- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Description
図1は、実施の形態の風データ推定装置100を含む風データ推定システム1の構成の一例を示す図である。
FVx=m・ax (1)
FVy=m・ay (2)
MV=I・ω (3)
Fx=FVx-Fux-FRx (4)
Fy=FVy-Fuy-FRy (5)
M=MV-Mu-MR (6)
しがたって、式(4)~(6)により、車両20が風を受けることによって前後方向に掛かる力Fx、車両20が風を受けることによって横方向に掛かる力Fy、風を受けることによって車両20に発生するモーメントMを求めることができる。
Fuy=m・a(VV,α)=m・VV・{A(VV)+δB(VV)/δt}・α (7)
Mu= I・δA(VV)/δt・α (8)
ここで、車両20の横方向加速度a(VV,α)は、車速VV,操舵角αの関数として、a(VV,α)=VV・{A(VV)+δB(VV)/δt}・αで表される。なお、車速VVは、ベクトルである。
A(VV)=VV/{l-m・VV 2・(lf・CPf-lr・CPr)/2・L・CPf・CPr}
B(VV)=(lr・CPr―m・lf・VV 2/2・L)/{L・CPr―m・(lfCPf-lr・CPr)・VV/2・L・CPf}
なお、車速Vvは車体スリップ角β方向のベクトルだが、車体スリップ角βをゼロとみなせるので、車両20の進行方向の速度(スカラー量)として扱うことができる。
Fux=C(PA,PB,VV,G) (9)
FRx=m・g・sinθG (10)
FRy=m・g・sinθC (11)
MR=I・δω/δt=lf・FRf-lr・FRr (12)
式(10)、(11)に含まれる加速度g・sinθG、g・sinθCは、路面勾配、路面カントによって車両20にかかる加速度であり、第3加速度の一例である。
Fx=1/2・ρ・VWVx 2・SF・CDF (13)
Fy=1/2・ρ・VWVy 2・SS・CDS (14)
M=1/2・ρ・VWVy 2・SS・CDS・l (15)
式(13)、(14)より、対車風速のx軸成分VWVx、y軸成分VWVyは、次式(16)、(17)で表すことができる。
10 センタ
20 車両
100 風データ推定装置
110 主制御部
120 情報収集部
130 情報区分部
140 推定部
150 通信部
160 メモリ
Claims (6)
- 車両に搭載されるセンサによって検出される、第1加速度、前記車両の運転者による運転操作量、及び位置情報を含む車両情報を収集する情報収集部と、
前記情報収集部によって収集される車両情報を前記位置情報に応じて複数のエリアのいずれか1つに区分する情報区分部と、
前記情報区分部によって前記1つのエリアに区分された車両情報に含まれる第1加速度から、前記運転操作量によって生じる第2加速度を減算して得る加速度に基づいて、前記車両情報が検出された時間帯における当該エリア内における風速及び風向きを推定する推定部と
を含む、風データ推定装置。 - 前記車両の運転者による運転操作量は、前記各車両に搭載されるセンサによって検出される、アクセル開度、ブレーキ操作量、車速、又は操舵角である、請求項1記載の風データ推定装置。
- 前記推定部は、前記第1加速度から、前記第2加速度と、前記位置情報に対応する道路の横断勾配又は勾配によって前記車両に生じる第3加速度とを減算して得る加速度に基づいて、前記時間帯における当該エリア内における風速及び風向きを推定する、請求項1又は2記載の風データ推定装置。
- 前記情報収集部は、複数の車両から前記車両情報を収集し、
前記情報区分部は、前記情報収集部によって収集される複数の車両情報を前記位置情報に応じて前記複数のエリアのいずれか1つにそれぞれ区分し、
前記推定部は、前記情報区分部によって同一のエリアに対して区分された複数の車両情報のうち、前記車両情報が検出された時間帯が同一の複数の車両情報から推定する複数の風速及び風向きに基づいて、当該エリア内における風速及び風向きを推定する、請求項1又は2記載の風データ推定装置。 - 前記推定部は、前記同一のエリアに前記時間帯が同一の複数の車両情報から複数の風速及び風向きをそれぞれ推定する際に、前記第1加速度から、前記第2加速度と、前記位置情報に対応する道路の横断勾配又は勾配によって前記車両に生じる第3加速度とを減算して得る加速度に基づいて、前記風速及び風向きを推定する、請求項4記載の風データ推定装置。
- 前記推定部は、前記推定した風速及び風向きと、前記車両の車速とから、前記車両の進行方向における対地座標系での風速及び風向きを求める、請求項1乃至5のいずれか一項記載の風データ推定装置。
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JP2018131837A JP7001009B2 (ja) | 2018-07-11 | 2018-07-11 | 風データ推定装置 |
US16/456,447 US11433909B2 (en) | 2018-07-11 | 2019-06-28 | Wind data estimating apparatus |
CN201910589755.2A CN110775064B (zh) | 2018-07-11 | 2019-07-02 | 风数据推断装置 |
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JP7095661B2 (ja) * | 2019-07-15 | 2022-07-05 | トヨタ自動車株式会社 | 車両用外乱対処システム |
CN111599199A (zh) * | 2020-03-25 | 2020-08-28 | 张雪华 | 一种基于车联网的横风信息处理方法 |
EP3922524A1 (en) * | 2020-06-08 | 2021-12-15 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | A system for supporting wind detection and compensation in a vehicle |
TWI755162B (zh) * | 2020-11-17 | 2022-02-11 | 楊進丁 | 電池能耗評估方法及系統以及內儲電池能耗資料處理程式之電腦可讀取記錄媒體及其電腦程式產品 |
CN113053130B (zh) * | 2021-03-23 | 2023-06-06 | 西安黄河机电有限公司 | 桥上车辆运行风险预警方法及装置 |
WO2023117031A1 (en) * | 2021-12-20 | 2023-06-29 | Volvo Truck Corporation | Predictive heavy-duty vehicle motion management based on environment sensing |
CN114162134B (zh) * | 2022-02-14 | 2022-05-06 | 西南交通大学 | 跨海桥梁上车辆轨迹预测方法、设备和存储介质 |
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JP6020420B2 (ja) | 2013-11-13 | 2016-11-02 | トヨタ自動車株式会社 | 移動体用の風検知装置 |
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JP2005207988A (ja) | 2004-01-26 | 2005-08-04 | Calsonic Kansei Corp | 車両用風向風速検出装置 |
WO2014037986A1 (ja) | 2012-09-04 | 2014-03-13 | パイオニア株式会社 | 走行環境推定装置及び走行環境推定方法 |
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CN110775064B (zh) | 2022-10-25 |
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JP2020006893A (ja) | 2020-01-16 |
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