JPH0712563A - Gradient detection method of moving body - Google Patents
Gradient detection method of moving bodyInfo
- Publication number
- JPH0712563A JPH0712563A JP5182246A JP18224693A JPH0712563A JP H0712563 A JPH0712563 A JP H0712563A JP 5182246 A JP5182246 A JP 5182246A JP 18224693 A JP18224693 A JP 18224693A JP H0712563 A JPH0712563 A JP H0712563A
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- gradient
- acceleration
- alpha
- accelerometer
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title description 2
- 230000001133 acceleration Effects 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000005484 gravity Effects 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は移動体における進路の勾
配を検出する方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a slope of a course in a moving body.
【０００２】[0002]
【従来の技術】従来は移動体の進行方向の加速度を検出
する際に、移動体に取り付けられたジャイロの回転変位
と３次元方向の加速度より求めていたため、移動体の進
路の勾配を検出する必要がなかったが、このためジャイ
ロと３組の加速度計を必要としていた。ジャイロを使わ
ずに進行方向に向けて設置した加速度計で進行方向の加
速度を求める場合、移動体進路の勾配を検出することが
必要になる。この場合前に述べた移動体の進行方向の加
速度を検出する場合と同じく、ジャイロの回転変位と３
次元方向の加速度から複雑な演算処理を行って、移動体
進路の勾配を求めることになる。2. Description of the Related Art Conventionally, when the acceleration of a moving body in the traveling direction is detected, it is obtained from the rotational displacement of a gyro attached to the moving body and the acceleration in the three-dimensional direction. I didn't need it, but I needed a gyro and three sets of accelerometers for this. When the acceleration in the traveling direction is obtained by an accelerometer installed in the traveling direction without using a gyro, it is necessary to detect the gradient of the moving body course. In this case, the rotational displacement of the gyro and the 3
A complicated calculation process is performed from the acceleration in the dimensional direction to obtain the gradient of the moving body path.
【０００３】[0003]
【発明が解決しようとする課題】従来の技術によれば、
勾配を検出するには３次元方向の変化に対応するため、
ジャイロの回転変位と加速度をそれぞれ３方向必要と
し、単に高価であるばかりではなく、複雑な演算処理を
しなければならないという問題点があった。According to the prior art,
In order to detect the gradient, it corresponds to the change in the three-dimensional direction.
The rotational displacement and the acceleration of the gyro are required in each of three directions, which is not only expensive, but also requires complicated arithmetic processing.
【０００４】本発明は前記のような問題点を解決するこ
とにより、ジャイロを使わずに安価で簡単に移動体の進
行方向の加速度を検出することを目的として、移動体に
備え付けられている車軸の回転パルス発生器と加速度計
を用いて、移動体進路の勾配を検出する方法を提供する
ことにある。By solving the above problems, the present invention aims to detect acceleration in the traveling direction of a moving body inexpensively and easily without using a gyro, and to equip the axle mounted on the moving body. It is to provide a method for detecting the gradient of a moving body path using the rotating pulse generator and the accelerometer of.
【０００５】[0005]
【課題を解決するための手段】本発明は移動体に備え付
けられている車軸の回転パルス発生器と移動体の進行方
向に向けて設置した加速度計の指示値とから、移動体進
路の勾配を検出する方法である。SUMMARY OF THE INVENTION According to the present invention, a gradient of a traveling path of a moving body is calculated from a rotation pulse generator of an axle mounted on the moving body and an instruction value of an accelerometer installed in the traveling direction of the moving body. This is the method of detection.
【０００６】[0006]
【作用】勾配のある進路を走行する移動体に備え付けら
れた加速度計には重力が作用し、加速度計は勾配に応じ
て、進行方向の加速度からのずれを含む値を指示する。
一方、移動体に備え付けられている車軸の回転パルス発
生器の加速度は移動体の進行方向の加速度を正しく指示
する。この差は勾配と一定の関係にあり、簡単な演算処
理により、高価なジャイロを使わずに移動体進路の勾配
を検出することができる。Action: Gravity acts on the accelerometer mounted on the moving body that travels along a sloped course, and the accelerometer indicates a value including a deviation from the acceleration in the traveling direction according to the gradient.
On the other hand, the acceleration of the rotation pulse generator for the axle mounted on the moving body correctly indicates the acceleration in the traveling direction of the moving body. This difference has a constant relationship with the gradient, and the gradient of the moving body path can be detected by a simple arithmetic process without using an expensive gyro.
【０００７】[0007]
【実施例】移動体勾配検出方法の実施例について説明す
る。図１は本発明における移動体の勾配検出方法を示し
た説明図である。ここで、１は列車、２は動力軸回転パ
ルス発生器、３は加速度計である。図１において、列車
１が角度θの勾配を走行している。このとき、車軸回転
パルス発生器２から得られる加速度をα、加速度計３の
指示値をα’、重力加速度をｇとすると、α’はαとｇ
の勾配方向の分力との和となり、（１）式で示す関係が
成り立つ。 α’＝α＋ｇ・ｓｉｎθ （１） （１）式より、勾配θを求めることができる。EXAMPLE An example of a moving body gradient detecting method will be described. FIG. 1 is an explanatory view showing a method of detecting a gradient of a moving body in the present invention. Here, 1 is a train, 2 is a power shaft rotation pulse generator, and 3 is an accelerometer. In FIG. 1, a train 1 is traveling on a gradient with an angle θ. At this time, if the acceleration obtained from the axle rotation pulse generator 2 is α, the indicated value of the accelerometer 3 is α ′, and the gravitational acceleration is g, α ′ is α and g.
And the component force in the gradient direction, and the relationship shown in equation (1) holds. α ′ = α + g · sin θ (1) The gradient θ can be calculated from the equation (1).
【０００８】[0008]
【発明の効果】移動体に備え付けられている車軸の回転
パルス発生器と加速度計を用いて勾配を検出するので、
新たに高価なジャイロを搭載する必要がなく、経済的に
優れている。また、高い精度で連続的に移動体進路の勾
配を検出することが可能となる。さらに、予め求めた勾
配と加速度計により、移動体の進行方向の加速度が求め
られ、車軸の回転に滑走や空転があったときも、これを
正確に補正することができる。Since the gradient is detected by using the rotary pulse generator and the accelerometer of the axle mounted on the moving body,
It is economically superior because there is no need to install a new expensive gyro. Further, it becomes possible to continuously detect the gradient of the moving body path with high accuracy. Furthermore, the acceleration in the traveling direction of the moving body is obtained by the gradient and the accelerometer that are obtained in advance, and even when the rotation of the axle includes slipping or idling, this can be accurately corrected.
【図１】本発明における移動体の勾配検出方法を示した
説明図である。FIG. 1 is an explanatory diagram showing a method for detecting a gradient of a moving body according to the present invention.
１ 列車 ２ 車軸回転パルス発生器 ３ 加速度計 θ 勾配 ｇ 重力加速度 α 車軸回転パルス発生器から得られる加速度 α′ 加速度計の指示値 1 Train 2 Axle rotation pulse generator 3 Accelerometer θ Gradient g Gravity acceleration α Acceleration obtained from axle rotation pulse generator α ′ Accelerometer reading
Claims (1)
法において、車軸の回転パルス発生器より求めた加速度
と移動体の進行方向に向けて設置された加速度計の指示
値とから、移動体進路の勾配を検出することを特徴とす
る移動体の勾配検出方法。1. A method of detecting the gradient of a moving body path in a moving body, the moving body path being determined from an acceleration obtained from an axle rotation pulse generator and an instruction value of an accelerometer installed in the traveling direction of the moving body. A method for detecting a gradient of a moving body, which comprises detecting the gradient of the.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5182246A JPH0712563A (en) | 1993-06-29 | 1993-06-29 | Gradient detection method of moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5182246A JPH0712563A (en) | 1993-06-29 | 1993-06-29 | Gradient detection method of moving body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0712563A true JPH0712563A (en) | 1995-01-17 |
Family
ID=16114906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5182246A Pending JPH0712563A (en) | 1993-06-29 | 1993-06-29 | Gradient detection method of moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0712563A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0810439A2 (en) * | 1996-04-30 | 1997-12-03 | Alcatel | Method and device for the detection of the acceleration of an articulated rail vehicle |
| WO1999046604A1 (en) * | 1998-03-10 | 1999-09-16 | Robert Bosch Gmbh | Method and device for producing a signal representing a motor vehicle running conditions |
| JP2013205248A (en) * | 2012-03-28 | 2013-10-07 | Railway Technical Research Institute | Velocity detection device, traveling location calculation device and velocity calculation method |
-
1993
- 1993-06-29 JP JP5182246A patent/JPH0712563A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0810439A2 (en) * | 1996-04-30 | 1997-12-03 | Alcatel | Method and device for the detection of the acceleration of an articulated rail vehicle |
| EP0810439A3 (en) * | 1996-04-30 | 1998-10-07 | Alcatel | Method and device for the detection of the acceleration of an articulated rail vehicle |
| WO1999046604A1 (en) * | 1998-03-10 | 1999-09-16 | Robert Bosch Gmbh | Method and device for producing a signal representing a motor vehicle running conditions |
| US6349255B1 (en) | 1998-03-10 | 2002-02-19 | Robert Bosch Gmbh | Method and device for producing a signal representing a motor vehicle running conditions |
| JP2013205248A (en) * | 2012-03-28 | 2013-10-07 | Railway Technical Research Institute | Velocity detection device, traveling location calculation device and velocity calculation method |
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