JP7018512B2 - 車両における現在走行路面粗さを検知する方法 - Google Patents
車両における現在走行路面粗さを検知する方法 Download PDFInfo
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- JP7018512B2 JP7018512B2 JP2020536755A JP2020536755A JP7018512B2 JP 7018512 B2 JP7018512 B2 JP 7018512B2 JP 2020536755 A JP2020536755 A JP 2020536755A JP 2020536755 A JP2020536755 A JP 2020536755A JP 7018512 B2 JP7018512 B2 JP 7018512B2
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- 238000000034 method Methods 0.000 claims description 17
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- 230000005284 excitation Effects 0.000 description 2
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Classifications
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- 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
- B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
-
- 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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- 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
- B60C23/065—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 by monitoring vibrations in tyres or suspensions
-
- 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
- B60T8/172—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]
-
- 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
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
-
- 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
- B60G2800/984—Tyre Pressure Monitoring Systems
-
- 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
- B60T2210/14—Rough roads, bad roads, gravel roads
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. potholes
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Vehicle Body Suspensions (AREA)
Description
2 タイヤ
3 リム
4 ホイールサスペンション
5 走行路面
6 目標振幅応答
7 実振幅応答
8 共振領域
9 回転数センサ
10 制御装置
11 評価ステップ
12 評価ステップ
13 車両ユニット
14 タイヤに典型的な基準値
Claims (9)
- ホイールの回転数が検知され、かつ前記回転数のプロファイルの周波数分析が実行され、前記周波数分析において周波数依存振幅応答が決定される、車両における現在走行路面粗さを検知する方法であって、高周波振動する前記振幅応答の基本プロファイルからの偏差を特徴付ける統計的粗さ特性量が前記走行路面粗さの程度として前記振幅応答から検知され、前記車両のホイールのタイヤ(2)内の空気圧が、前記振幅応答のプロファイルの低周波数側へのシフトの程度に基づいて検知される、方法。
- 前記振幅応答の振幅分散が粗さ特性量として検知されることを特徴とする、請求項1に記載の方法。
- 前記粗さ特性量は、タイヤ(2)もしくはホイールの前記振幅応答の共振点において、または共振点の隣で検知されることを特徴とする、請求項1または2に記載の方法。
- 前記粗さ特性量からタイヤ(2)と走行路面(5)との間の摩擦値が推論されることを特徴とする、請求項1~3のいずれか1項に記載の方法。
- 前記粗さ特性量は、タイヤ(2)に典型的な基準値に関係付けられることを特徴とする、請求項1~4のいずれか1項に記載の方法。
- 各車両ホイール(1)に回転数センサ(9)が割り当てられており、前記回転数センサにより前記ホイールの回転数が検知されることを特徴とする、請求項1~5のいずれか1項に記載の方法。
- 請求項1~6のいずれか1項に記載の方法を使用して車両動特性に影響を及ぼす車両ユニット(13)を制御する方法であって、前記車両ユニット(13)は、粗さ特性量の関数として制御されることを特徴とする、方法。
- 請求項1~7のいずれか1項に記載の方法を実行するための制御装置。
- 請求項8に記載の制御装置(10)を備える車両であって、車両ホイール(1)における少なくとも1つの回転数センサ(9)と、車両動特性に影響を及ぼす車両ユニット(13)と、を備える、車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018200330.0A DE102018200330A1 (de) | 2018-01-11 | 2018-01-11 | Verfahren zur Ermittlung der aktuellen Fahrbahnrauhigkeit in einem Fahrzeug |
DE102018200330.0 | 2018-01-11 | ||
PCT/EP2018/080703 WO2019137658A1 (de) | 2018-01-11 | 2018-11-08 | Verfahren zur ermittlung der aktuellen fahrbahnrauhigkeit in einem fahrzeug |
Publications (2)
Publication Number | Publication Date |
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JP2021507851A JP2021507851A (ja) | 2021-02-25 |
JP7018512B2 true JP7018512B2 (ja) | 2022-02-10 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2020536755A Active JP7018512B2 (ja) | 2018-01-11 | 2018-11-08 | 車両における現在走行路面粗さを検知する方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11472412B2 (ja) |
EP (1) | EP3737571A1 (ja) |
JP (1) | JP7018512B2 (ja) |
CN (1) | CN111565945A (ja) |
DE (1) | DE102018200330A1 (ja) |
WO (1) | WO2019137658A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102353971B1 (ko) * | 2020-08-10 | 2022-01-20 | 이진숙 | 그루브 조인트 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018132865A1 (de) * | 2018-12-19 | 2020-06-25 | Thyssenkrupp Ag | Verfahren zur Bestimmung eines Lenkgefühls eines Steer-by-Wire-Lenksystems |
CN112406880B (zh) * | 2020-11-23 | 2022-03-22 | 哈尔滨工业大学 | 一种路表空间曲面平整度的计算方法 |
US20230117152A1 (en) * | 2021-10-18 | 2023-04-20 | Kawasaki Motors, Ltd. | Control requirement determiner, rough terrain vehicle, and control requirement determining method |
Citations (3)
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DE19537257A1 (de) | 1994-10-14 | 1996-04-18 | Volkswagen Ag | Verfahren zur Ermittlung des physikalischen Profils einer Fahrbahnoberfläche |
DE102009012128A1 (de) | 2009-03-06 | 2010-09-09 | Volkswagen Ag | Verfahren zum Bestimmen einer Rauigkeit einer Fahrbahnoberfläche für ein Fahrzeug |
JP2016536596A (ja) | 2014-06-09 | 2016-11-24 | ニラ・ダイナミクス・エイビイ | 路面における短期凹凸の検出 |
Family Cites Families (11)
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DE19543928C2 (de) | 1995-11-24 | 1997-09-04 | Daimler Benz Ag | Verfahren zur frühzeitigen Erkennung des Aufschwimmens eines Fahrzeugreifens auf nasser Fahrbahn |
EP0925960A3 (en) | 1997-12-15 | 2004-06-09 | Denso Corporation | Tyre air pressure estimating apparatus |
JP3769435B2 (ja) * | 1999-11-05 | 2006-04-26 | 株式会社豊田中央研究所 | 路面摩擦状態推定装置 |
JP2001334921A (ja) * | 2000-05-30 | 2001-12-04 | Fuji Heavy Ind Ltd | 車両の路面摩擦係数推定装置 |
ES2534480T3 (es) * | 2001-12-21 | 2015-04-23 | Kabushiki Kaisha Bridgestone | Método y aparato para estimar el estado de la superficie de una carretera y el estado de marcha de un neumático |
JP4220929B2 (ja) * | 2004-04-28 | 2009-02-04 | 独立行政法人科学技術振興機構 | 路面平坦性測定装置 |
JP4830015B2 (ja) | 2009-11-10 | 2011-12-07 | 住友ゴム工業株式会社 | タイヤ空気圧低下検出装置及び方法、並びにタイヤの空気圧低下検出プログラム |
RU2519002C2 (ru) * | 2012-09-10 | 2014-06-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Юго-Западный государственный университет" (ФГБОУВПО ЮЗГУ) | Способ диагностики ровности поверхности дорожного покрытия |
US9751533B2 (en) * | 2014-04-03 | 2017-09-05 | The Goodyear Tire & Rubber Company | Road surface friction and surface type estimation system and method |
JP2019006351A (ja) * | 2017-06-28 | 2019-01-17 | 株式会社ブリヂストン | 路面状態推定方法及び路面状態推定装置 |
CN111511588A (zh) * | 2017-12-20 | 2020-08-07 | 尼拉动力公司 | 确定车辆中轮胎压力状态 |
-
2018
- 2018-01-11 DE DE102018200330.0A patent/DE102018200330A1/de active Pending
- 2018-11-08 JP JP2020536755A patent/JP7018512B2/ja active Active
- 2018-11-08 US US16/765,859 patent/US11472412B2/en active Active
- 2018-11-08 WO PCT/EP2018/080703 patent/WO2019137658A1/de unknown
- 2018-11-08 EP EP18803908.5A patent/EP3737571A1/de not_active Withdrawn
- 2018-11-08 CN CN201880086129.5A patent/CN111565945A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19537257A1 (de) | 1994-10-14 | 1996-04-18 | Volkswagen Ag | Verfahren zur Ermittlung des physikalischen Profils einer Fahrbahnoberfläche |
DE102009012128A1 (de) | 2009-03-06 | 2010-09-09 | Volkswagen Ag | Verfahren zum Bestimmen einer Rauigkeit einer Fahrbahnoberfläche für ein Fahrzeug |
JP2016536596A (ja) | 2014-06-09 | 2016-11-24 | ニラ・ダイナミクス・エイビイ | 路面における短期凹凸の検出 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102353971B1 (ko) * | 2020-08-10 | 2022-01-20 | 이진숙 | 그루브 조인트 |
Also Published As
Publication number | Publication date |
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US20200361475A1 (en) | 2020-11-19 |
WO2019137658A1 (de) | 2019-07-18 |
DE102018200330A1 (de) | 2019-07-11 |
JP2021507851A (ja) | 2021-02-25 |
US11472412B2 (en) | 2022-10-18 |
CN111565945A (zh) | 2020-08-21 |
EP3737571A1 (de) | 2020-11-18 |
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