WO2008150221A1 - Method and computer program for determining a centre of gravity height of a vehicle - Google Patents

Method and computer program for determining a centre of gravity height of a vehicle Download PDF

Info

Publication number
WO2008150221A1
WO2008150221A1 PCT/SE2008/050578 SE2008050578W WO2008150221A1 WO 2008150221 A1 WO2008150221 A1 WO 2008150221A1 SE 2008050578 W SE2008050578 W SE 2008050578W WO 2008150221 A1 WO2008150221 A1 WO 2008150221A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
values
determining
computer program
centre
Prior art date
Application number
PCT/SE2008/050578
Other languages
English (en)
French (fr)
Inventor
Joseph Ah-King
Original Assignee
Scania Cv Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to DE112008001510.4T priority Critical patent/DE112008001510B4/de
Publication of WO2008150221A1 publication Critical patent/WO2008150221A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity

Definitions

  • An object of the invention according to an aspect of the invention is to provide an improved method for determining the centre of gravity height of a vehicle.
  • the processing step may comprise the step of Kalman-filtering a plurality of said values of said first and second set of values.
  • Kalman-filtering is a recursive method that works in real time and requires limited computational power.
  • the step of calculating the static gain may be based upon said generated transfer function.
  • the invention also relates to a vehicle comprising the computer.
  • the vehicle may be a semi-trailer.
  • the invention relates to a method for estimating the height of the centre of gravity for a vehicle or vehicle combination during running.
  • the rolling characteristics of the vehicle are dependent upon the height of the centre of gravity of the vehicle, which varies considerably with different load conditions.
  • By measuring the vehicle roll angle, or roll angular velocity, and lateral acceleration during driving an estimate of a transfer function can be created.
  • the static gain and natural frequency can be determined from said transfer function.
  • the first relation relates to static gain and involves CGH and roll stiffness.
  • the second relation relates to natural frequency and involves CGH and roll stiffness.
  • the first relation relates to static gain and involves CGH and torsional stiffness.
  • the second relation relates to natural frequency and involves CGH and torsional stiffness.
  • link refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non-physical connector such as a wireless connection, for example a radio or microwave link.
  • the ECU is arranged to process received roll angle values ⁇ so as to generate roll angular velocity values ⁇ . This may be performed by means of a time derivative processing step.
  • the inventive method is initiated and controlled by means of the electronic control unit 200.
  • the inventive method is initiated and controlled by means of an external PC 210.
  • the external computer 280 may be directly connected to the electronic control unit via a link 215, but may also be indirectly connected to the electronic control unit 200 in any suitable manner, such as through an internal vehicle network.
  • the communication between the external computer and the electronic control unit 200 may be partly or entirely wireless.
  • the inventive method could also be initiated and controlled by the electronic control unit itself or by another electronic control unit, such as an electronic gear box control unit.
  • An aspect of the invention relates to a computer program product comprising a computer program for determining the centre of gravity height of a vehicle and a computer readable medium on which the computer program is stored.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
PCT/SE2008/050578 2007-06-05 2008-05-16 Method and computer program for determining a centre of gravity height of a vehicle WO2008150221A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112008001510.4T DE112008001510B4 (de) 2007-06-05 2008-05-16 Verfahren und Computerprogramm zum Bestimmen einer Massenschwerpunktshöhe eines Fahrzeugs

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0701385A SE531275C2 (sv) 2007-06-05 2007-06-05 Förfarande och datorprogram för att bestämma höjden av ett fordons masscentrum
SE0701385-7 2007-06-05

Publications (1)

Publication Number Publication Date
WO2008150221A1 true WO2008150221A1 (en) 2008-12-11

Family

ID=40093919

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2008/050578 WO2008150221A1 (en) 2007-06-05 2008-05-16 Method and computer program for determining a centre of gravity height of a vehicle

Country Status (3)

Country Link
DE (1) DE112008001510B4 (sv)
SE (1) SE531275C2 (sv)
WO (1) WO2008150221A1 (sv)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012202882A (ja) * 2011-03-25 2012-10-22 Kyowa Electron Instr Co Ltd 走行型車両重心計測システム
WO2013029268A1 (zh) * 2011-09-01 2013-03-07 长沙中联重工科技发展股份有限公司 物体重心高度的测定方法及测定装置
WO2013029267A1 (zh) * 2011-09-01 2013-03-07 长沙中联重工科技发展股份有限公司 物体重心高度的测定方法及测定装置
JP2017053719A (ja) * 2015-09-09 2017-03-16 いすゞ自動車株式会社 車両重心高さ推定装置
EP2573536A4 (en) * 2010-05-21 2017-05-31 National University Corporation Tokyo University of Marine Science and Technology Centroid detection device
WO2018193928A1 (ja) * 2017-04-17 2018-10-25 いすゞ自動車株式会社 重心高推定装置
CN109398365A (zh) * 2018-12-05 2019-03-01 苏州博众机器人有限公司 一种巡逻车检测***及巡逻车
CN111976580A (zh) * 2020-08-31 2020-11-24 南京交通职业技术学院 一种危化品车防侧翻控制及报警***

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016217612A1 (de) 2016-09-15 2018-03-15 Audi Ag Verfahren zur Dachlasterkennung bei einem Kraftfahrzeug und System zur Fahrwerksregelung bei einem Kraftfahrzeug
DE102017221957A1 (de) 2017-12-05 2019-06-06 Audi Ag Ermittlung der Dachlast eines Fahrzeugs
DE102021208760A1 (de) 2021-08-11 2023-02-16 Zf Friedrichshafen Ag Verfahren zur Positionsbestimmung eines Sensors an einem Fahrzeug und Positionsbestimmungseinrichtung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918525A1 (de) * 1998-04-24 1999-10-28 Hino Motors Ltd Vorrichtung zur Abschätzungsberechnung der Schwerpunkthöhe von Fahrzeugen
WO2004074804A1 (en) * 2003-02-18 2004-09-02 Scania Cv Ab (Publ) Arrangement and method for estimating the height of the centre of gravity of a vehicle
US20060178808A1 (en) * 2005-02-08 2006-08-10 Ford Global Technologies, Llc Method and apparatus for detecting rollover of an automotive vehicle based on a lateral kinetic energy rate threshold
WO2007098891A1 (en) * 2006-03-03 2007-09-07 National University Of Ireland Maynooth Method for determining the centre of gravity for an automotive vehicle

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10247993B4 (de) 2002-10-15 2011-02-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung der Schwerpunkthöhe eines Kraftfahrzeugs
DE102004035577A1 (de) * 2004-07-22 2006-02-16 Daimlerchrysler Ag Stabilisierungsvorrichtung und Verfahren zur Fahrstabilisierung eines Fahrzeugs durch Anwendung einer Spektralanalyse
DE102004060809A1 (de) 2004-12-17 2006-06-29 Daimlerchrysler Ag Verfahren und Vorrichtung zur Bestimmung massebezogener Größen eines Fahrzeugs
US7477972B2 (en) 2005-08-01 2009-01-13 Delphi Technologies, Inc. Rollover warning and detection method for transport vehicles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918525A1 (de) * 1998-04-24 1999-10-28 Hino Motors Ltd Vorrichtung zur Abschätzungsberechnung der Schwerpunkthöhe von Fahrzeugen
WO2004074804A1 (en) * 2003-02-18 2004-09-02 Scania Cv Ab (Publ) Arrangement and method for estimating the height of the centre of gravity of a vehicle
US20060178808A1 (en) * 2005-02-08 2006-08-10 Ford Global Technologies, Llc Method and apparatus for detecting rollover of an automotive vehicle based on a lateral kinetic energy rate threshold
WO2007098891A1 (en) * 2006-03-03 2007-09-07 National University Of Ireland Maynooth Method for determining the centre of gravity for an automotive vehicle

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2573536A4 (en) * 2010-05-21 2017-05-31 National University Corporation Tokyo University of Marine Science and Technology Centroid detection device
JP2012202882A (ja) * 2011-03-25 2012-10-22 Kyowa Electron Instr Co Ltd 走行型車両重心計測システム
WO2013029268A1 (zh) * 2011-09-01 2013-03-07 长沙中联重工科技发展股份有限公司 物体重心高度的测定方法及测定装置
WO2013029267A1 (zh) * 2011-09-01 2013-03-07 长沙中联重工科技发展股份有限公司 物体重心高度的测定方法及测定装置
JP2017053719A (ja) * 2015-09-09 2017-03-16 いすゞ自動車株式会社 車両重心高さ推定装置
WO2018193928A1 (ja) * 2017-04-17 2018-10-25 いすゞ自動車株式会社 重心高推定装置
CN110520343A (zh) * 2017-04-17 2019-11-29 五十铃自动车株式会社 重心高度推定装置
US11181433B2 (en) 2017-04-17 2021-11-23 Isuzu Motors Limited Center-of-mass height estimation device
CN110520343B (zh) * 2017-04-17 2022-05-24 五十铃自动车株式会社 重心高度推定装置
CN109398365A (zh) * 2018-12-05 2019-03-01 苏州博众机器人有限公司 一种巡逻车检测***及巡逻车
CN111976580A (zh) * 2020-08-31 2020-11-24 南京交通职业技术学院 一种危化品车防侧翻控制及报警***

Also Published As

Publication number Publication date
SE0701385L (sv) 2008-12-06
DE112008001510B4 (de) 2020-03-19
SE531275C2 (sv) 2009-02-10
DE112008001510T5 (de) 2010-04-22

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