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 PDFInfo
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 75
- 230000005484 gravity Effects 0.000 title claims abstract description 73
- 238000004590 computer program Methods 0.000 title claims description 39
- 230000003068 static effect Effects 0.000 claims abstract description 42
- 230000001133 acceleration Effects 0.000 claims abstract description 21
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 21
- 238000012546 transfer Methods 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 description 27
- 238000004891 communication Methods 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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)
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)
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)
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)
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)
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 |
-
2007
- 2007-06-05 SE SE0701385A patent/SE531275C2/sv not_active IP Right Cessation
-
2008
- 2008-05-16 DE DE112008001510.4T patent/DE112008001510B4/de not_active Expired - Fee Related
- 2008-05-16 WO PCT/SE2008/050578 patent/WO2008150221A1/en active Application Filing
Patent Citations (4)
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)
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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