CN103303317B - The speed predictor method of vehicle - Google Patents
The speed predictor method of vehicle Download PDFInfo
- Publication number
- CN103303317B CN103303317B CN201310037387.3A CN201310037387A CN103303317B CN 103303317 B CN103303317 B CN 103303317B CN 201310037387 A CN201310037387 A CN 201310037387A CN 103303317 B CN103303317 B CN 103303317B
- Authority
- CN
- China
- Prior art keywords
- acceleration
- vehicle
- speed
- accel
- wheel
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
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 present invention relates to the speed predictor method of vehicle, comprising: the step of the acceleration/accel of measuring vehicle; Estimate the step of the acceleration/accel of described vehicle; When the acceleration/accel of described measurement and the difference of the described acceleration/accel estimated are more than setting value, utilize variable weight according to the inclination of described vehicle and changes in weight, the acceleration/accel estimated described in compensation is to estimate the step of the speed of described vehicle; And the difference of the acceleration/accel of described measurement and the described acceleration/accel estimated is less than when the described setting value, utilize the Reference mass set to estimate the step of the speed of described vehicle, when the present invention can estimate in the speed of carrying out wheel hub independent drive vehicles thus, improve its accuracy, and emergency brake performance can be promoted by this.
Description
Technical field
The present invention relates to the speed predictor method of vehicle, relate in more detail can in the wheel hub independent drive vehicles of individual drive forward-reverse, utilize variable weight to estimate the speed predictor method of the vehicle of car speed at all wheels.
Background technology
Usually, in order to the electronic control system of the stability improving vehicle has: for preventing the brake equipment that causes because of slip on wet and slippery road surface locked, and can carry out by driver the ABS(Anti-lockBrakeSystem that turns in braking); The TCS(TractionControlSystem slided is there is) when setting out for preventing vehicle on wet and slippery road surface or accelerate suddenly; For stably controlling the ESC(ElectronicStabilityControl of the posture of vehicle) etc.
This electronic control system, in order to ensure deceleration and stopping performance or the acceleration capability of vehicle, needs the speed estimating out vehicle exactly.
During ABS, TCS, ESC running, the sliding ratio that can calculate each wheel with the speed of the vehicle in traveling for benchmark controls vehicle, and the speed predictor method of vehicle is that the wheel speed of the middle measurement of wheel speed sensors (WheelSpeedSensor) by utilizing each wheel calculates.
The background technology that the present invention is correlated with has, and Korean Patent Publication No. is " the estimating body speed of vehicle calculation method of ABS vehicle " of No. 10-2004-0021913 (2004.03.11).
Summary of the invention
(technical matters that will solve)
In the past, the speed calculating vehicle based on the wheel speed that measures in the wheel speed sensors by each wheel, but each wheel can the wheel hub independent drive vehicles of individual drive forward-reverse when ABS, TCS, ESC operate, in braking, each wheel can be independently driven, particularly, can also carry out the inverse of wheel hub in advancing drive to drive, the speed therefore only relying on wheel speed to estimate vehicle has the very large possibility made a mistake.
In addition, when four-wheel is all exposed on the little road surface of friction force, the more difficult problem estimating car speed can be there is.
The present invention creates to improve the problems referred to above, its object is to the speed predictor method that vehicle is provided, can in the wheel hub independent drive vehicles of individual drive forward-reverse at each wheel hub, utilize variable weight to estimate car speed, thus its accuracy can be improved when the speed of vehicle is estimated.
(means of dealing with problems)
According to the speed predictor method of the vehicle of a side of the present invention, it 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 acceleration/accel of described measurement and the difference of the described acceleration/accel estimated are more than setting value, utilize variable weight according to the inclination of described vehicle and changes in weight, the acceleration/accel estimated described in compensation is to estimate the step of the speed of described vehicle; And the difference of the acceleration/accel of described measurement and the described acceleration/accel estimated is less than when the described setting value, utilize the Reference mass set to estimate the step of the speed of described vehicle.
According to the speed predictor method of the vehicle of a side of the present invention, it is characterized in that, described variable weight is by following mathematical expression
Calculate,
for variable weight; N
ffor reduction ratio;
for Motor torque;
For the inertia that motor rotates;
for the rotatory inertia of wheel;
for the rotating speed of wheel; F
loadfor
Resistance to motion; a
compensationfor described difference; R is radius of wheel.
According to the speed predictor method of the vehicle of a side of the present invention, it is characterized in that, the speed of described vehicle 20 is by following mathematical expression
Calculate, V
dynamicsfor the speed of described vehicle; N
ffor reduction ratio;
for Motor torque;
for motor rotatory inertia;
for the rotatory inertia of wheel;
for the rotating speed of wheel; F
loadfor resistance to motion; R is radius of wheel;
for described variable weight.
(effect of invention)
The present invention, when estimating the speed of wheel hub independent drive vehicles, can improve its accuracy thus can improve emergency brake performance.
In addition, in the present invention, even if all wheels are exposed on low friction road, the speed of vehicle can also be estimated exactly.
Accompanying drawing explanation
Fig. 1 is the formation block diagram of the speed estimating device of the vehicle represented according to one embodiment of the invention.
Fig. 2 is the diagram of circuit of the speed predictor method of the vehicle represented according to one embodiment of the invention.
(description of reference numerals)
10: acceleration pick-up 20: wheel speed sensors
30: Motor torque sensor 40: inclination Identification Division
50: acceleration compensation portion 60: variable weight compensation section
70: speed estimates portion
Detailed description of the invention
With reference to the accompanying drawings the speed predictor method of the vehicle according to one embodiment of the invention is described in detail.In the process, the thickness of the lines shown in accompanying drawing or the size etc. of structural constituent, in order to the definition that illustrates and convenient and may enlarged icon.Further, term described later considers function in the present invention and the term defined, and they can be different according to the intention of user, operator or convention.Therefore, the definition for this term should be determined based on the content of this specification.
Fig. 1 is the formation block diagram of the speed estimating device of the vehicle represented according to one embodiment of the invention.
As shown in Figure 1, according to the speed estimating device of the vehicle of one embodiment of the invention, comprising: 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 estimates portion 70.
Acceleration pick-up 10, the acceleration/accel (a of vehicle during for measuring anxious acceleration and suddenly slowing down or travel
sensor).
Wheel speed sensors 20, each wheel fr, fl, rr, rl of being arranged at vehicle measures the wheel speed of each wheel, for measuring the wheel speed W of front right wheel
fr, front revolver wheel speed W
fl, rear right wheel wheel speed W
rrand the wheel speed W of rear revolver
rl.
Motor torque sensor 30, each wheel fr, fl, rr, rl of being arranged at vehicle measures the Motor torque of each wheel, for measuring the Motor torque T of front right wheel
fr, front revolver Motor torque T
fl, rear right wheel Motor torque T
rrand the Motor torque T of rear revolver
rl.
Inclination Identification Division 40, by input come in acceleration pick-up 10 in measure acceleration/accel (a
sensor) estimate with speed the acceleration/accel (a estimated in portion 70
dynamics) compare, carry out inclination and the changes in weight of identification vehicle.Now, inclination Identification Division 40, at the difference (a of the acceleration/accel measured with the acceleration/accel estimated
compensation) more than the setting value set time, inclination and the changes in weight of vehicle can be recognized, thus by application variable weight (M
effectiveinertia) carry out compensated acceleration.To carry out aftermentioned to this.
Acceleration compensation portion 50 is for each wheel hub, and the difference of the acceleration/accel of computation and measurement and the acceleration/accel estimated also is input to variable weight compensation section 60.
Variable weight compensation section 60, for each wheel hub, calculates variable weight by utilizing the acceleration/accel of the wheel speed inputted from described wheel speed sensors 20 and the Motor torque inputted from Motor torque sensor 30 and measurement with the difference of the acceleration/accel estimated.
Speed estimates portion 70 for each wheel hub, by utilizing the wheel speed inputted from described wheel speed sensors 20 and the Motor torque inputted from Motor torque sensor 30 and estimating acceleration/accel from the variable weight that variable weight compensation section 60 inputs, and by while the accelerator feedback estimated to inclination Identification Division 40, estimate the speed of vehicle and the speed (V of vehicle that will estimate
dynamics) be input to acceleration compensation portion 50.
Thus, inclination Identification Division 40, compares identification inclination and changes in weight to the acceleration/accel estimated estimating portion 70 input from speed with the acceleration/accel of the measurement inputted from acceleration pick-up 10.
In addition, acceleration compensation portion 50, utilize from speed estimate portion 70 input the acceleration/accel estimated compensate the acceleration/accel estimated.
That is, based on the acceleration/accel measured with the difference of the acceleration/accel estimated, make variable mass to compensate the speed of vehicle.
This process, when the acceleration/accel of described measurement and the difference of the acceleration/accel estimated are more than setting value, can repeatedly carry out the speed routinely compensating vehicle, in this process, when the acceleration/accel of described measurement and the difference of the acceleration/accel estimated are less than during in setting value, the speed of Reference mass to vehicle set is utilized to estimate.
Referring to Fig. 2, the speed predictor method of the vehicle according to one embodiment of the invention is described in detail.
Fig. 2 is the diagram of circuit of the speed predictor method of the vehicle represented according to one embodiment of the invention.
As a reference, according to the speed predictor method of the vehicle of one embodiment of the invention be applied to each wheel hub can on the wheel hub independent drive vehicles of individual drive, therefore should be understood to, the speed predictor method of following vehicle realizes with each wheel hub.
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 with when estimating from speed the acceleration/accel estimated in portion 70, and the acceleration/accel that can utilize measurement and the acceleration/accel estimated come inclination and the changes in weight (S30) of identification vehicle.
Now, inclination Identification Division 40, the acceleration/accel of measurement and the difference of acceleration/accel estimated and setting value are compared, and according to the result compared, come inclination and the changes in weight of identification vehicle, judge the acceleration/accel measured and the difference of acceleration/accel estimated whether more than setting value, when difference is more than setting value, utilize variable weight to after estimating acceleration/accel, utilize the acceleration/accel estimated to estimate the speed (S40 ~ S50) of vehicle.
Herein, variable weight is by following mathematical expression 1, and the difference of the acceleration/accel utilizing described measurement and the acceleration/accel estimated, wheel speed and Motor torque calculate.
Mathematical expression 1
Herein,
for variable weight; N
ffor reduction ratio;
for Motor torque;
for the inertia that motor rotates;
for the rotatory inertia of wheel;
for the rotating speed of wheel; F
loadfor resistance to motion; a
compensationfor described difference; R is radius of wheel.
That is, variable weight is that the acceleration/accel utilizing described measurement calculates with the difference of the acceleration/accel estimated.
As mentioned above, during application variable weight, this variable weight can be utilized to estimate the speed of vehicle, and the speed of this vehicle is estimated and following mathematical expression 2 can be utilized to calculate.
Mathematical expression 2
Herein, V
dynamicsfor the speed of described vehicle; N
ffor reduction ratio;
for Motor torque;
for motor rotatory inertia;
for the rotatory inertia of wheel;
for the rotating speed of wheel; F
loadfor resistance to motion; R is radius of wheel;
for described variable weight.
As mentioned above, the speed of vehicle utilizes variable weight, and described variable weight is as shown in above-mentioned mathematical expression 1, is the difference utilizing the acceleration/accel measured and the acceleration/accel estimated.
Namely, after the acceleration/accel meeting feed back input to inclination Identification Division 40 measured, the acceleration/accel of measurement can change with the difference of the acceleration/accel estimated, and along with according to this difference, variable weight is changed, and the speed of vehicle is calculated according to the variable weight changed, the speed of vehicle can be compensated thus.
This process can perform repeatedly until vehicle stops (S10 ~ S70), and in the process, the difference of the acceleration/accel of measurement and the acceleration/accel estimated, less than when the setting value, can utilize the Reference mass set to calculate the speed (S70) of vehicle.
It can be calculated by following mathematical expression 3.
Mathematical expression 3
Herein,
for the speed of vehicle; T
ifor Motor torque;
for the rotatory inertia of wheel;
for the rotating speed of wheel; F
loadfor resistance to motion; M is the Reference mass set.
Namely, according to the speed predictor method of the vehicle of one embodiment of the invention, variable weight is utilized to carry out the speed of compensated acceleration and vehicle, variable weight is that the difference of the acceleration/accel of acceleration/accel and the measurement estimated according to each wheel of vehicle changes, and can calculate the sliding ratio of each wheel thus thus can carry out vehicular drive more exactly according to the speed of vehicle and control.
Describe the present invention with reference to the embodiment shown in accompanying drawing above, but this is only exemplary embodiment, general technical staff of the technical field of the invention should be appreciated that and therefrom can realize various deformation and other equivalent embodiments.
Claims (2)
1. a speed predictor method for vehicle, comprising:
The step of the acceleration/accel of measuring vehicle;
Estimate the step of the acceleration/accel of described vehicle;
When the acceleration/accel of described measurement and the difference of the described acceleration/accel estimated are more than setting value, utilize variable weight according to the inclination of described vehicle and changes in weight, the acceleration/accel estimated described in compensation is to estimate the step of the speed of described vehicle; And
The acceleration/accel of described measurement and the difference of the described acceleration/accel estimated, less than when the described setting value, utilize the Reference mass set to estimate the step of the speed of described vehicle;
Described variable weight is by following mathematical expression
Calculate,
for variable weight;
for reduction ratio;
for Motor torque;
for motor rotatory inertia;
for the rotatory inertia of wheel;
for the rotating speed of wheel;
for resistance to motion;
for described difference; R is radius of wheel.
2. the speed predictor method of vehicle according to claim 1, is characterized in that,
The speed of described vehicle is by following mathematical expression
Calculate,
for the speed of described vehicle;
for reduction ratio;
for Motor torque;
for motor rotatory inertia;
for the rotatory inertia of wheel;
for the rotating speed of wheel;
for resistance to motion; R is radius of wheel;
for described variable weight.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020120024122A KR20130102920A (en) | 2012-03-08 | 2012-03-08 | Method for calculating velocity for vehicles |
| KR10-2012-0024122 | 2012-03-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103303317A CN103303317A (en) | 2013-09-18 |
| CN103303317B true CN103303317B (en) | 2016-04-13 |
Family
ID=49129149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310037387.3A Expired - Fee Related CN103303317B (en) | 2012-03-08 | 2013-01-31 | The speed predictor method of vehicle |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20130102920A (en) |
| CN (1) | CN103303317B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112017007870B4 (en) * | 2017-09-15 | 2023-09-21 | Yamaha Hatsudoki Kabushiki Kaisha | Electric support system, electric support vehicle and method for controlling an electric support system |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5579230A (en) * | 1991-06-10 | 1996-11-26 | General Motors Corporation | Vehicle speed estimation for antilock braking using a chassis accelerometer |
| 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 |
| CN1940509A (en) * | 2005-09-27 | 2007-04-04 | 比亚迪股份有限公司 | Automotive quality estimation system and method |
| JP4066793B2 (en) * | 2002-11-29 | 2008-03-26 | アイシン精機株式会社 | Vehicle mass estimation device |
| US7499826B2 (en) * | 2006-11-29 | 2009-03-03 | Hyundai Motor Company | Method of estimating mass for vehicle safety |
| CN101898560A (en) * | 2010-05-21 | 2010-12-01 | 北京理工大学 | Novel adjusting parameters suitable for anti-slip control of all-wheel drive vehicle |
-
2012
- 2012-03-08 KR KR1020120024122A patent/KR20130102920A/en not_active Application Discontinuation
-
2013
- 2013-01-31 CN CN201310037387.3A patent/CN103303317B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5579230A (en) * | 1991-06-10 | 1996-11-26 | General Motors Corporation | Vehicle speed estimation for antilock braking using a chassis accelerometer |
| JP4066793B2 (en) * | 2002-11-29 | 2008-03-26 | アイシン精機株式会社 | Vehicle mass estimation device |
| 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 |
| CN1940509A (en) * | 2005-09-27 | 2007-04-04 | 比亚迪股份有限公司 | Automotive quality estimation system and method |
| US7499826B2 (en) * | 2006-11-29 | 2009-03-03 | Hyundai Motor Company | Method of estimating mass for vehicle safety |
| CN101898560A (en) * | 2010-05-21 | 2010-12-01 | 北京理工大学 | Novel adjusting parameters suitable for anti-slip control of all-wheel drive vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130102920A (en) | 2013-09-23 |
| CN103303317A (en) | 2013-09-18 |
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Granted publication date: 20160413 Termination date: 20170131 |