WO2009072231A1 - Vehicle angle-of-roll estimating method and device - Google Patents

Vehicle angle-of-roll estimating method and device Download PDF

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Publication number
WO2009072231A1
WO2009072231A1 PCT/JP2008/002969 JP2008002969W WO2009072231A1 WO 2009072231 A1 WO2009072231 A1 WO 2009072231A1 JP 2008002969 W JP2008002969 W JP 2008002969W WO 2009072231 A1 WO2009072231 A1 WO 2009072231A1
Authority
WO
WIPO (PCT)
Prior art keywords
roll
suspensions
height adjustment
angle
inner pressure
Prior art date
Application number
PCT/JP2008/002969
Other languages
French (fr)
Japanese (ja)
Inventor
Kenichi Furihata
Takahiro Sato
Yuta Fujimaki
Original Assignee
Isuzu Motors Limited
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 Isuzu Motors Limited filed Critical Isuzu Motors Limited
Publication of WO2009072231A1 publication Critical patent/WO2009072231A1/en

Links

Classifications

    • 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
    • B60G17/019—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 the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • 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
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • 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
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

A method and device for estimating the angle of roll of even a vehicle not equipped with full air-suspension during nonexecution of vehicle height adjustment. The displacements and inner pressure values of the left and right suspensions which have the same characteristics and are a part of the suspensions to be adjusted for automobile height adjustment, out of all the suspensions, are measured at the start and end of the automobile height adjustment. From the measured displacements and inner pressure values, first and second angles of roll and first and second roll moments by the left and right suspensions are computed. From the first and second angles of roll and the first and second roll moments, the roll stiffness coefficient specific to the vehicle equipped with the suspensions is computed. The displacement characteristic corresponding to the measured inner pressure average of the left and right suspensions, out of the displacement characteristics predetermined using the inner pressure values exhibited by the suspensions as parameters, is selected as a common displacement characteristic of the left and right suspensions during nonexecution of the automobile height adjustment. The angle of roll during the automobile height adjustment is determined from the second angle of roll, the second roll moment, the roll stiffness coefficient, the selected displacement characteristic, and correction of the angle of roll is performed adaptively to the full-bump state and the increased state after the engine is started.
PCT/JP2008/002969 2007-12-07 2008-10-20 Vehicle angle-of-roll estimating method and device WO2009072231A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007317323 2007-12-07
JP2007-317323 2007-12-07
JP2008-050533 2008-02-29
JP2008050533 2008-02-29

Publications (1)

Publication Number Publication Date
WO2009072231A1 true WO2009072231A1 (en) 2009-06-11

Family

ID=40717417

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002969 WO2009072231A1 (en) 2007-12-07 2008-10-20 Vehicle angle-of-roll estimating method and device

Country Status (2)

Country Link
JP (1) JP5176918B2 (en)
WO (1) WO2009072231A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3366501A1 (en) * 2017-02-22 2018-08-29 HORSCH LEEB Application Systems GmbH Landing gear of an agricultural vehicle and method for its suspension and/or damping control
CN109764872A (en) * 2017-11-10 2019-05-17 通用汽车环球科技运作有限责任公司 Roll angle and inclination angle are determined using suspension displacement data
CN113619591A (en) * 2021-10-08 2021-11-09 天津所托瑞安汽车科技有限公司 Method, apparatus and storage medium for estimating roll angle of vehicle

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5910917B2 (en) * 2011-10-06 2016-04-27 いすゞ自動車株式会社 Vehicle roll angle estimation method and apparatus
JP5910914B2 (en) * 2011-10-06 2016-04-27 いすゞ自動車株式会社 Vehicle roll angle estimation method and apparatus
JP5910916B2 (en) * 2011-10-06 2016-04-27 いすゞ自動車株式会社 Vehicle roll angle estimation method and apparatus
JP5910915B2 (en) * 2011-10-06 2016-04-27 いすゞ自動車株式会社 Vehicle roll angle estimation method and apparatus
JP5910918B2 (en) * 2011-10-07 2016-04-27 いすゞ自動車株式会社 Vehicle roll angle estimation method and apparatus
KR20210136022A (en) * 2019-03-07 2021-11-16 볼보 트럭 코퍼레이션 How to find out the mass state quantity of a vehicle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002211347A (en) * 2001-01-15 2002-07-31 Calsonic Kansei Corp Rollover judging device
JP3921127B2 (en) * 2002-05-08 2007-05-30 日産ディーゼル工業株式会社 Vehicle rollover prevention device
JP2007230531A (en) * 2006-02-02 2007-09-13 Isuzu Motors Ltd Device for judging rollover risk of vehicle
JP2008307942A (en) * 2007-06-12 2008-12-25 Isuzu Motors Ltd Method for estimating vehicle roll angle and device therefor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH082234A (en) * 1994-06-17 1996-01-09 Toyota Motor Corp Body inclination calculator
JP2002248920A (en) * 2001-02-21 2002-09-03 Toyota Central Res & Dev Lab Inc Control system for vehicle suspension system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002211347A (en) * 2001-01-15 2002-07-31 Calsonic Kansei Corp Rollover judging device
JP3921127B2 (en) * 2002-05-08 2007-05-30 日産ディーゼル工業株式会社 Vehicle rollover prevention device
JP2007230531A (en) * 2006-02-02 2007-09-13 Isuzu Motors Ltd Device for judging rollover risk of vehicle
JP2008307942A (en) * 2007-06-12 2008-12-25 Isuzu Motors Ltd Method for estimating vehicle roll angle and device therefor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3366501A1 (en) * 2017-02-22 2018-08-29 HORSCH LEEB Application Systems GmbH Landing gear of an agricultural vehicle and method for its suspension and/or damping control
CN109764872A (en) * 2017-11-10 2019-05-17 通用汽车环球科技运作有限责任公司 Roll angle and inclination angle are determined using suspension displacement data
CN109764872B (en) * 2017-11-10 2023-01-13 通用汽车环球科技运作有限责任公司 Determining roll and lean angles using suspension displacement data
CN113619591A (en) * 2021-10-08 2021-11-09 天津所托瑞安汽车科技有限公司 Method, apparatus and storage medium for estimating roll angle of vehicle
CN113619591B (en) * 2021-10-08 2021-12-31 天津所托瑞安汽车科技有限公司 Method, apparatus and storage medium for estimating roll angle of vehicle

Also Published As

Publication number Publication date
JP5176918B2 (en) 2013-04-03
JP2009227265A (en) 2009-10-08

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