CN103303317A - Method for estimating velocity for vehicles - Google Patents

Method for estimating velocity for vehicles Download PDF

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Publication number
CN103303317A
CN103303317A CN2013100373873A CN201310037387A CN103303317A CN 103303317 A CN103303317 A CN 103303317A CN 2013100373873 A CN2013100373873 A CN 2013100373873A CN 201310037387 A CN201310037387 A CN 201310037387A CN 103303317 A CN103303317 A CN 103303317A
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Prior art keywords
speed
vehicle
acceleration
accel
wheel
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CN2013100373873A
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CN103303317B (en
Inventor
李相文
高成然
金贤秀
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Hyundai Mobis Co Ltd
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Hyundai Mobis Co Ltd
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Classifications

    • 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
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • 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
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B60Y2400/3032—Wheel speed sensors

Abstract

The invention relates to a method for calculating velocity for vehicles, comprising the steps of measuring the accelerated speed for a vehicle; estimating the accelerated speed for a vehicle; using a variable quality based on the inclination and weight change of the vehicle when the difference value between the accelerated speed measured and the accelerated speed estimated is above a set value, and compensating the accelerated speed estimated to estimate the vehicle speed; estimating the vehicle speed by means of the set standard quality when the difference value between the accelerated speed measured and the accelerated speed estimated is below the set value. Accordingly, when the speed of a vehicle driven by wheel hubs is estimated, the accuracy can be improved, and the emergent brake performance can be increased.

Description

The speed predictor method of vehicle
Technical field
The present invention relates to the speed predictor method of vehicle, but relate in more detail in the wheel hub individual drive vehicle of all wheel individual drive forward-reverses, utilize variable weight to estimate the speed predictor method of the vehicle of car speed.
Background technology
Usually, for the electronic control system of the stability that improves vehicle has: be used for preventing that the brake equipment that causes because of slip is locked on wet and slippery road surface, and the ABS(Anti-lock Brake System that in braking, can be turned to by the driver); The TCS(Traction Control System that is used for preventing that on wet and slippery road surface vehicle from setting out or occurs when accelerating suddenly sliding); Be used for stably controlling the ESC(Electronic Stability Control of the posture of vehicle) etc.
This electronic control system in order to ensure vehicle braked performance or acceleration capability, need be estimated out the speed of vehicle exactly.
When ABS, TCS, ESC running, can be that the sliding ratio that benchmark calculates each wheel comes vehicle is controlled with the speed of the vehicle in travelling, the speed predictor method of vehicle be to calculate by the wheel speed of measuring in the wheel speed sensors that utilizes each wheel (Wheel Speed Sensor).
The background technology that the present invention is correlated with has, and Korean Patent Publication No. is " the ABS vehicle estimate body speed of vehicle calculation method " of 10-2004-0021913 number (2004.03.11).
Summary of the invention
(technical matters that will solve)
In the past, be that the wheel speed that measures in the wheel speed sensors by each wheel is the basic speed of calculating vehicle, but but the wheel hub individual drive vehicle of each wheel individual drive forward-reverse is when ABS, TCS, ESC running, each wheel can be by individual drive in the braking, particularly, can also carry out the contrary of wheel hub in the advancing drive and drive, therefore the speed that only relies on wheel speed to estimate vehicle has the very big possibility that makes a mistake.
In addition, when four-wheel all is exposed on the little road surface of friction force, can there be the more difficult problem of estimating car speed.
The present invention creates in order to improve the problems referred to above, its purpose is to provide the speed predictor method of vehicle, but in the wheel hub individual drive vehicle of each wheel hub individual drive forward-reverse, utilize variable weight to estimate car speed, thereby when the speed of vehicle is estimated, can improve its accuracy.
(means of dealing with problems)
Speed predictor method according to the vehicle of a side of the present invention is characterized in that, comprising: the step of the acceleration/accel of measuring vehicle; Estimate the step of the acceleration/accel of described vehicle; When the difference of the acceleration/accel of described measurement and the described acceleration/accel of estimating when setting value is above, utilize variable weight according to inclination and the changes in weight of described vehicle, compensate the step that the described acceleration/accel of estimating is estimated the speed of described vehicle; And the difference of the acceleration/accel of described measurement and the described acceleration/accel of estimating is less than when the described setting value, and the Reference mass that utilization has been set is estimated the step of the speed of described vehicle.
Speed predictor method according to the vehicle of a side of the present invention is characterized in that described variable weight is by following mathematical expression
M effective inertia = ( Σ ( N f T m i - ( J m i N f 2 + J w i ) ω · w i ) r - F load ) / a compensation
Calculate,
Figure BDA00002799275700022
Be variable weight; N fBe reduction ratio;
Figure BDA00002799275700023
Be Motor torque;
Figure BDA00002799275700024
Inertia for the motor rotation;
Figure BDA00002799275700025
Rotatory inertia for wheel;
Figure BDA00002799275700026
Rotating speed for wheel; F LoadFor
Resistance to motion; a CompensationBe described difference; R is radius of wheel.
Speed predictor method according to the vehicle of a side of the present invention is characterized in that the speed of described vehicle 20 is by following mathematical expression
V dynamics =∫ ( Σ ( N f T m i - ( J m i N f 2 + J w i ) ω · w i ) M effectuve inertia r - F load M effective inertia ) dt
Calculate V DynamicsSpeed for described vehicle; N fBe reduction ratio; Be Motor torque;
Figure BDA00002799275700029
Be the motor rotatory inertia;
Figure BDA000027992757000210
Rotatory inertia for wheel;
Figure BDA000027992757000211
Rotating speed for wheel; F LoadBe resistance to motion; R is radius of wheel; Be described variable weight.
(effect of invention)
The present invention can improve the emergency brake performance thereby can improve its accuracy when the speed of wheel hub individual drive vehicle is estimated.
In addition, among the present invention, even all wheels are exposed on the low friction road, also can estimate the speed of vehicle exactly.
Description of drawings
Fig. 1 is that expression is according to the formation block diagram of the speed estimating device of the vehicle of one embodiment of the invention.
Fig. 2 is that expression is according to the diagram of circuit of the speed predictor method of the vehicle of one embodiment of the invention.
(description of reference numerals)
10: acceleration pick-up 20: wheel speed sensors
30: Motor torque sensor 40: the inclination Identification Division
50: acceleration compensation portion 60: the variable weight compensation section
70: speed is estimated portion
The specific embodiment
With reference to the accompanying drawings the speed predictor method according to the vehicle of one embodiment of the invention is described in detail.In this process, the thickness of the lines shown in the accompanying drawing or the size of structural constituent etc. are for the definition on illustrating may be amplified diagram with facility.And term described later is to consider the function among the present invention and the term that defines, and it can be according to user, operator's intention or convention and difference.Therefore, should be based on the content of this specification at the definition of this term and determine.
Fig. 1 is that expression is according to the formation block diagram of the speed estimating device of the vehicle of one embodiment of the invention.
As shown in Figure 1, the speed estimating device according to the vehicle of one embodiment of the invention comprises: acceleration pick-up 10; Wheel speed sensors 20; Motor torque sensor 30; Inclination Identification Division 40; Acceleration compensation portion 50; Variable weight compensation section 60; And speed is estimated portion 70.
Acceleration pick-up 10 be used for to be measured anxious the acceleration and anxious the deceleration or the acceleration/accel (a of vehicle when travelling Sensor).
Wheel speed sensors 20 is arranged at the wheel speed of measuring each wheel on each wheel fr, fl, rr, rl of vehicle, is used for measuring the wheel speed W of front right wheel Fr, preceding revolver wheel speed W Fl, rear right wheel wheel speed W RrAnd the wheel speed W of back revolver Rl
Motor torque sensor 30 is arranged at the Motor torque of measuring each wheel on each wheel fr, fl, rr, rl of vehicle, is used for measuring the Motor torque T of front right wheel Fr, preceding revolver Motor torque T Fl, rear right wheel Motor torque T RrAnd the Motor torque T of back revolver Rl
Inclination Identification Division 40 is by the acceleration/accel (a that measures in the acceleration pick-up 10 that input is come in Sensor) estimate the acceleration/accel (a that estimates in the portion 70 with speed Dynamics) compare, come inclination and the changes in weight of identification vehicle.At this moment, inclination Identification Division 40 is at the difference (a of the acceleration/accel of measuring with the acceleration/accel of estimating Compensation) when the setting value of having set is above, can recognize inclination and the changes in weight of vehicle, thereby by using variable weight (M Effectiveinertia) come compensated acceleration.To carry out aftermentioned to this.
Acceleration compensation portion 50 calculates the difference of the acceleration/accel of measuring and the acceleration/accel of estimating and is input to variable weight compensation section 60 for each wheel hub.
Variable weight compensation section 60 is calculated variable weight by utilizing from the wheel speed of described wheel speed sensors 20 inputs and from the Motor torque of Motor torque sensor 30 inputs and the acceleration/accel of measurement with the difference of the acceleration/accel of estimating for each wheel hub.
Speed is estimated portion 70 for each wheel hub, estimate acceleration/accel by utilizing from the wheel speed of described wheel speed sensors 20 inputs with the Motor torque of importing from Motor torque sensor 30 and from the variable weight of variable weight compensation section 60 inputs, and when the acceleration/accel of estimating fed back to inclination Identification Division 40, estimate the speed of vehicle and with the speed (V of the vehicle estimated Dynamics) be input to acceleration compensation portion 50.
Thus, inclination Identification Division 40 compares identification inclination and changes in weight to the acceleration/accel of estimating portion 70 acceleration/accel of importing of estimating and the measurement of importing from acceleration pick-up 10 from speed.
In addition, acceleration compensation portion 50, the acceleration/accel of estimating that utilization is estimated portion's 70 inputs from speed compensates the acceleration/accel of estimating.
That is, the difference based on the acceleration/accel of measuring and the acceleration/accel of estimating makes variable mass compensate the speed of vehicle.
This process, when the difference of the acceleration/accel of described measurement and the acceleration/accel of estimating when setting value is above, can come routinely to compensate the speed of vehicle repeatedly, in this process, when the difference of the acceleration/accel of described measurement and the acceleration/accel of estimating less than in setting value the time, utilize the Reference mass of having set to come the speed of vehicle is estimated.
Below with reference to Fig. 2 the speed predictor method according to the vehicle of one embodiment of the invention is described in detail.
Fig. 2 is that expression is according to the diagram of circuit of the speed predictor method of the vehicle of one embodiment of the invention.
As a reference, but be to be applied on the wheel hub individual drive vehicle of each wheel hub individual drive according to the speed predictor method of the vehicle of one embodiment of the invention, therefore should be understood to that the speed predictor method of following vehicle is realized with each wheel hub.
At first, acceleration pick-up 10 is understood the acceleration/accel of measuring vehicle and is input to inclination Identification Division 40(S10).
In addition, speed is estimated portion 70 and can be estimated the acceleration/accel of vehicle and be input to inclination Identification Division 40(S20).
Inclination Identification Division 40 is when receiving the acceleration/accel measured from acceleration pick-up 10 and estimating the acceleration/accel that portion 70 estimates from speed, and the acceleration/accel that can utilize measurement and the acceleration/accel of estimating come inclination and the changes in weight (S30) of identification vehicle.
At this moment, inclination Identification Division 40, difference and the setting value of the acceleration/accel of measuring and the acceleration/accel of estimating are compared, and according to result relatively, come inclination and the changes in weight of identification vehicle, the difference of the acceleration/accel of judge measuring and the acceleration/accel of estimating whether more than setting value, when difference when setting value is above, after utilizing variable weight to estimate acceleration/accel, utilize the acceleration/accel estimate to estimate the speed of vehicle (S40 ~ S50).
Herein, variable weight is by following mathematical expression 1, and difference, wheel speed and the Motor torque of the acceleration/accel that utilizes described measurement and the acceleration/accel of estimating calculate.
Mathematical expression 1
M effective inertia = ( Σ ( N f T m i - ( J m i N f 2 + J w i ) ω · w i ) r - F load ) / a compensation
Herein,
Figure BDA00002799275700061
Be variable weight; N fBe reduction ratio;
Figure BDA00002799275700062
Be Motor torque;
Figure BDA00002799275700063
Inertia for the motor rotation;
Figure BDA00002799275700064
Rotatory inertia for wheel;
Figure BDA00002799275700065
Rotating speed for wheel; F LoadBe resistance to motion; a CompensationBe described difference; R is radius of wheel.
That is, variable weight is to utilize the acceleration/accel of described measurement and the difference of the acceleration/accel of estimating to calculate.
As mentioned above, when using variable weight, can utilize this variable weight to estimate the speed of vehicle, the speed of this vehicle is estimated and can be utilized following mathematical expression 2 to calculate.
Mathematical expression 2
V dynamics =∫ ( Σ ( N f T m i - ( J m i N f 2 + J w i ) ω · w i ) M effectuve inertia r - F load M effective inertia ) dt
Herein, V DynamicsSpeed for described vehicle; N fBe reduction ratio;
Figure BDA00002799275700067
Be Motor torque;
Figure BDA00002799275700068
Be the motor rotatory inertia;
Figure BDA00002799275700069
Rotatory inertia for wheel;
Figure BDA000027992757000610
Rotating speed for wheel; F LoadBe resistance to motion; R is radius of wheel;
Figure BDA000027992757000611
Be described variable weight.
As mentioned above, the speed of vehicle is to utilize variable weight, and described variable weight is shown in above-mentioned mathematical expression 1, is the difference of utilizing the acceleration/accel of measuring and the acceleration/accel of estimating.
Namely, after the acceleration/accel of measuring can feed back and be input to inclination Identification Division 40, the acceleration/accel of measurement can change with the difference of the acceleration/accel of estimating, along with make the variable weight change according to this difference, and calculate the speed of vehicle according to the variable weight of change, can compensate the speed of vehicle thus.
This process can be carried out repeatedly and stop up to vehicle that (S10 ~ S70), in this process, the difference of the acceleration/accel of measurement and the acceleration/accel of estimating can utilize the Reference mass of having set to calculate the speed (S70) of vehicle less than when the setting value.
It can calculate by following mathematical expression 3.
Mathematical expression 3
V · = [ Σ ( T i - J w i ω · w i ) r F load ] / M
Herein,
Figure BDA00002799275700071
Speed for vehicle; T iBe Motor torque;
Figure BDA00002799275700072
Rotatory inertia for wheel; Rotating speed for wheel; F LoadBe resistance to motion; The Reference mass of M for having set.
Namely, speed predictor method according to the vehicle of one embodiment of the invention, utilize variable weight to come the speed of compensated acceleration and vehicle, variable weight is to change according to each acceleration/accel of estimating of wheel of vehicle difference with the acceleration/accel of measurement, controls thereby the sliding ratio that can calculate each wheel thus can carry out more exactly vehicular drive according to the speed of vehicle.
Abovely describe the present invention with reference to the embodiment shown in the accompanying drawing, but this only is exemplary embodiment that the general technical staff of the technical field of the invention should be appreciated that and can therefrom realize various deformation and other embodiment that are equal to.

Claims (3)

1. the speed predictor method of a vehicle comprises:
The step of the acceleration/accel of measuring vehicle;
Estimate the step of the acceleration/accel of described vehicle;
When the difference of the acceleration/accel of described measurement and the described acceleration/accel of estimating when setting value is above, utilize variable weight according to inclination and the changes in weight of described vehicle, compensate the step that the described acceleration/accel of estimating is estimated the speed of described vehicle; And
The difference of the acceleration/accel of described measurement and the described acceleration/accel of estimating utilizes the Reference mass of having set to estimate the step of the speed of described vehicle less than when the described setting value.
2. the speed predictor method of vehicle according to claim 1 is characterized in that,
Described variable weight is by following mathematical expression
M effective inertia = ( Σ ( N f T m i - ( J m i N f 2 + J w i ) ω · w i ) r - F load ) / a compensation
Calculate,
Figure FDA00002799275600012
Be variable weight; N fBe reduction ratio;
Figure FDA00002799275600013
Be Motor torque;
Figure FDA00002799275600014
Inertia for the motor rotation; Rotatory inertia for wheel;
Figure FDA00002799275600016
Rotating speed for wheel; F LoadBe resistance to motion; a CompensationBe described difference; R is radius of wheel.
3. the speed predictor method of vehicle according to claim 1 is characterized in that,
The speed of described vehicle is by following mathematical expression
V dynamics =∫ ( Σ ( N f T m i - ( J m i N f 2 + J w i ) ω · w i ) M effective inertia r - F load M effective inertia ) dt
Calculate V DynamicsSpeed for described vehicle; N fBe reduction ratio; Be Motor torque;
Figure FDA00002799275600019
Be the motor rotatory inertia;
Figure FDA000027992756000110
Rotatory inertia for wheel;
Figure FDA000027992756000111
Rotating speed for wheel; F LoadBe resistance to motion; R is radius of wheel;
Figure FDA000027992756000112
Be described variable weight.
CN201310037387.3A 2012-03-08 2013-01-31 The speed predictor method of vehicle Expired - Fee Related CN103303317B (en)

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KR1020120024122A KR20130102920A (en) 2012-03-08 2012-03-08 Method for calculating velocity for vehicles

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TWI670197B (en) * 2017-09-15 2019-09-01 日商山葉發動機股份有限公司 Electric auxiliary system and electric auxiliary vehicle

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JP7171953B2 (en) * 2017-09-15 2022-11-15 ヤマハ発動機株式会社 Electric assist systems and electric assist vehicles
KR102471005B1 (en) * 2017-12-26 2022-11-25 현대자동차주식회사 Method and apparatus for ramp and weight estimation

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US7499826B2 (en) * 2006-11-29 2009-03-03 Hyundai Motor Company Method of estimating mass for vehicle safety
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DE102004040757A1 (en) * 2003-12-12 2005-07-28 Continental Teves Ag & Co. Ohg Method for determination of reference speed level for four wheel drive with buck-eye coupling and torque regulation system
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
TWI670197B (en) * 2017-09-15 2019-09-01 日商山葉發動機股份有限公司 Electric auxiliary system and electric auxiliary vehicle
JPWO2019053889A1 (en) * 2017-09-15 2020-09-17 ヤマハ発動機株式会社 Electric assist system and electric auxiliary vehicle
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