KR970026703A - 차량상태 추정장치 - Google Patents

차량상태 추정장치 Download PDF

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Publication number
KR970026703A
KR970026703A KR1019960056369A KR19960056369A KR970026703A KR 970026703 A KR970026703 A KR 970026703A KR 1019960056369 A KR1019960056369 A KR 1019960056369A KR 19960056369 A KR19960056369 A KR 19960056369A KR 970026703 A KR970026703 A KR 970026703A
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South Korea
Prior art keywords
wheel
unit
state quantity
vehicle
estimating
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KR1019960056369A
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English (en)
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KR100215344B1 (ko
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유타카 히라노
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와다 아키히로
도요타 지도샤 가부시가이샤
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Publication of KR100215344B1 publication Critical patent/KR100215344B1/ko

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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
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • B60T8/17636—Microprocessor-based 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
    • 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
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • 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
    • B60W40/10—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
    • 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
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)
  • Navigation (AREA)

Abstract

본 발명의 목적은 타이어 모델을 이용하여 차량의 운동상태를 나타내는 상태량을 추정하는 차량상태 추정장치에 관한 것으로, 높은 추정정도를 확보하는 것으로서, 차륜 슬립각을 구하는 유닛(M10)을 마련하고, 차륜과 도로와의 사이의 마찰계수를 추정하는 유닛(M12)을 마련한다. 차륜 슬립각과 차륜의 횡력과의 관계를 마찰계수를 파라미터로서 결정하는 타이어 모델(M14)을 마련한다. 타이어 모델(M14)에 있어서 유닛(10)의 연산결과와 유닛(M12)의 추정결과로 특정되는 차륜의 횡력에 근거하여 차륜의 상태량을 연산하는 유닛(16)을 마련한다. 유닛(M16)에 의해 추정되는 상태량중에서 적어도 하나를 실측하는 유닛(M18)을 마련한다. 유닛(M16)의 연산값과 유닛(M18)과 관측값과의 편차에 근거하여 마찰계수를 보정하는 유닛(M20)을 마련한다.

Description

차량상태 추정장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 원리를 나타낸 구성도.
제2도는 본 발명의 한 실시예인 차량상태 추정장치의 시스템 구성도.
제3도는 제1도에 나타내는 차량상태 추정장치의 제어 블럭도.
제4도는 차량의 운동상태의 해석에 이용되는 4륜차의 등가 2륜 모델을 나타내는 설명도.

Claims (1)

  1. 차량의 슬립각을 구하는 차륜 슬립각 연산수단과, 차륜과 도로와의 사이의 마찰계수를 추정하는 마찰계수 추정수단과, 차륜의 슬립각과 차륜의 횡력과의 관계의 마찰계수를 파라미터로서 정하는 타이어모델을 구비하는 차량상태 추정장치에 있어서, 상기 타이어모델에 있어서, 상기 차륜 슬립각 연산수단의 연산결과와, 상기 마찰계수 추정수단의 추정결과에 대응하는 값으로 되는 차륜의 횡력에 근거하여 차량의 상태량을 연산하는 상태량 연산수단과, 상기 상태량 추정수단에 의해 추정되는 차량의 상태량중에서 적어도 1개를 실측하는 상태량 실측 수단과, 상기 상태량 연산수단의 연산값과 상기 상태량 실측수단의 관측값과의 편차에 근거하여 상기 마찰계수 추정수단의 추정값을 보정하는 마찰계수 보정수단을 구비하는 것을 특징으로 하는 차량상태 추정장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019960056369A 1995-11-24 1996-11-22 차량상태 추정장치 KR100215344B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7306281A JP3060923B2 (ja) 1995-11-24 1995-11-24 車両状態推定装置
JP95-306281 1995-11-24

Publications (2)

Publication Number Publication Date
KR970026703A true KR970026703A (ko) 1997-06-24
KR100215344B1 KR100215344B1 (ko) 1999-08-16

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Country Status (5)

Country Link
US (1) US5747682A (ko)
EP (1) EP0775617B1 (ko)
JP (1) JP3060923B2 (ko)
KR (1) KR100215344B1 (ko)
DE (1) DE69614975T2 (ko)

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KR100383985B1 (ko) * 2000-12-26 2003-05-14 현대자동차주식회사 타이어 마모 상태에 따른 에이비에스 제어시스템
KR100793869B1 (ko) * 2005-12-17 2008-01-15 현대자동차주식회사 차량의 차간거리 제어 시스템
KR101312441B1 (ko) * 2011-11-18 2013-09-27 한국타이어 주식회사 타이어 횡력 검출방법 및 장치

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KR101312441B1 (ko) * 2011-11-18 2013-09-27 한국타이어 주식회사 타이어 횡력 검출방법 및 장치

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DE69614975D1 (de) 2001-10-11
EP0775617A3 (en) 1998-08-12
JPH09142280A (ja) 1997-06-03
EP0775617A2 (en) 1997-05-28
KR100215344B1 (ko) 1999-08-16
EP0775617B1 (en) 2001-09-05

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