CN104125890B - 车高推定装置及车高推定方法 - Google Patents

车高推定装置及车高推定方法 Download PDF

Info

Publication number
CN104125890B
CN104125890B CN201280069857.8A CN201280069857A CN104125890B CN 104125890 B CN104125890 B CN 104125890B CN 201280069857 A CN201280069857 A CN 201280069857A CN 104125890 B CN104125890 B CN 104125890B
Authority
CN
China
Prior art keywords
wheel
height
wheel speed
road surface
wheels
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
Application number
CN201280069857.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN104125890A (zh
Inventor
吉见刚
香村伸吾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
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 Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of CN104125890A publication Critical patent/CN104125890A/zh
Application granted granted Critical
Publication of CN104125890B publication Critical patent/CN104125890B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • 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
    • 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
    • B60G17/018—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 use of a specific signal treatment or control method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • 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
    • B60G2400/20—Speed
    • B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
    • 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
    • B60G2400/25—Stroke; Height; Displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)
  • Regulating Braking Force (AREA)
CN201280069857.8A 2012-02-16 2012-02-16 车高推定装置及车高推定方法 Expired - Fee Related CN104125890B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2012/053726 WO2013121569A1 (ja) 2012-02-16 2012-02-16 車高推定装置および車高推定方法

Publications (2)

Publication Number Publication Date
CN104125890A CN104125890A (zh) 2014-10-29
CN104125890B true CN104125890B (zh) 2016-08-24

Family

ID=48983726

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201280069857.8A Expired - Fee Related CN104125890B (zh) 2012-02-16 2012-02-16 车高推定装置及车高推定方法

Country Status (9)

Country Link
US (1) US9221469B2 (https=)
EP (1) EP2815904B1 (https=)
JP (1) JP5811260B2 (https=)
CN (1) CN104125890B (https=)
AU (1) AU2012369763B2 (https=)
BR (1) BR112014019970B1 (https=)
IN (1) IN2014DN06726A (https=)
RU (1) RU2579258C1 (https=)
WO (1) WO2013121569A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013110954A1 (de) * 2013-10-02 2015-04-02 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Bestimmen eines Höhenstands eines Kraftfahrzeugs
JP6003931B2 (ja) * 2014-03-11 2016-10-05 トヨタ自動車株式会社 車両状態推定装置、車両制御装置及び車両状態推定方法
JP6394300B2 (ja) * 2014-11-10 2018-09-26 株式会社デンソー レーンキープ制御システム
JP6245217B2 (ja) * 2015-05-19 2017-12-13 トヨタ自動車株式会社 車両の状態量推定装置
JP6607229B2 (ja) * 2017-05-11 2019-11-20 トヨタ自動車株式会社 車両姿勢制御装置
US10745021B2 (en) * 2018-06-22 2020-08-18 Ford Global Technologies, Llc Methods and apparatus to estimate a suspension displacement
WO2020207572A1 (en) * 2019-04-09 2020-10-15 Volvo Truck Corporation Method for estimating wheel base length of a trailer of a vehicle combination comprising more than one articulation angle
JP7412322B2 (ja) * 2020-12-11 2024-01-12 株式会社クボタ 作業車
CN115325923B (zh) * 2022-06-28 2024-12-27 中国第一汽车股份有限公司 车高标定处理方法、装置及计算机可读存储介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005510397A (ja) * 2001-11-28 2005-04-21 プジョー　シトロエン　オートモービル　エス　アー 自動車の車輪に及ぼされる機械的な励起の瞬間周波数の推定方法とその適用
CN101020406A (zh) * 2006-02-13 2007-08-22 丰田自动车株式会社 车辆控制系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3637984A1 (de) * 1986-11-07 1988-05-19 Bayerische Motoren Werke Ag Verfahren zum beeinflussen einer fahrzeugfederung in abhaengigkeit von der fahrbahngestalt und fahrzeugfederung
JP2541353B2 (ja) * 1990-09-18 1996-10-09 三菱自動車工業株式会社 車両用アクティブサスペンション装置
JPH0648139A (ja) 1992-07-24 1994-02-22 Toyota Motor Corp サスペンション挙動検出装置およびサスペンション制御装置
US5497325A (en) * 1992-08-31 1996-03-05 Fuji Jukogyo Kabushiki Kaisha Suspension control system for a vehicle
JPH06122332A (ja) * 1992-10-09 1994-05-06 Nippondenso Co Ltd 車両のスリップ制御装置
JP3036292B2 (ja) * 1993-03-22 2000-04-24 トヨタ自動車株式会社 車体上下運動状態検出装置
EP1158803A3 (en) * 2000-05-24 2003-12-10 Matsushita Electric Industrial Co., Ltd. Rendering device for generating a display image
JP4306484B2 (ja) 2004-02-12 2009-08-05 トヨタ自動車株式会社 車高検出装置具備車両
JP4935573B2 (ja) * 2007-08-10 2012-05-23 トヨタ自動車株式会社 サスペンション特性推定装置
JP4539694B2 (ja) * 2007-08-28 2010-09-08 トヨタ自動車株式会社 車高調整装置
KR20090107334A (ko) * 2008-04-08 2009-10-13 주식회사 만도 차량용 제동제어장치와 현가제어장치 간의 데이터통신을 통한 차고제어장치 및 그 제어방법
JP2010188801A (ja) 2009-02-17 2010-09-02 Toyota Motor Corp 車両の重心位置推定装置
JP5045707B2 (ja) * 2009-05-28 2012-10-10 トヨタ自動車株式会社 走行装置、その制御方法、及び制御プログラム
US8670909B2 (en) * 2009-07-14 2014-03-11 Ford Global Technologies, Llc Automotive vehicle
WO2013145015A1 (ja) * 2012-03-29 2013-10-03 トヨタ自動車株式会社 路面状態推定装置
US8788146B1 (en) * 2013-01-08 2014-07-22 Ford Global Technologies, Llc Adaptive active suspension system with road preview

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005510397A (ja) * 2001-11-28 2005-04-21 プジョー　シトロエン　オートモービル　エス　アー 自動車の車輪に及ぼされる機械的な励起の瞬間周波数の推定方法とその適用
CN101020406A (zh) * 2006-02-13 2007-08-22 丰田自动车株式会社 车辆控制系统

Also Published As

Publication number Publication date
US9221469B2 (en) 2015-12-29
EP2815904A4 (en) 2017-01-25
US20150046033A1 (en) 2015-02-12
EP2815904A1 (en) 2014-12-24
CN104125890A (zh) 2014-10-29
EP2815904B1 (en) 2020-04-22
BR112014019970A2 (pt) 2017-06-13
BR112014019970B1 (pt) 2021-06-29
JPWO2013121569A1 (ja) 2015-05-11
RU2579258C1 (ru) 2016-04-10
WO2013121569A1 (ja) 2013-08-22
AU2012369763B2 (en) 2015-10-01
JP5811260B2 (ja) 2015-11-11
AU2012369763A1 (en) 2014-09-04
IN2014DN06726A (https=) 2015-05-22

Similar Documents

Publication Publication Date Title
CN104125890B (zh) 车高推定装置及车高推定方法
US5850616A (en) Traction control system for four wheel drive vehicle and the method thereof
CN108909705B (zh) 一种车辆控制方法及装置
CN110023166B (zh) 车辆运动状态推断装置
CN100408366C (zh) 车辆的侧倾刚度控制装置
US9823111B2 (en) Method and device for estimating loading state of vehicle
JP2001213345A (ja) 自動車の横転安定性の制御
GB2382336A (en) Vehicle yaw stability control
JPH0726967B2 (ja) 走行車車輪の車輪センサによって求められた回転速度を補正する方法
CN105774458B (zh) 用于控制悬架系统的方法
CN114620052A (zh) 一种车辆信号处理方法、装置和驾驶设备
JPH06227226A (ja) 自動車の車輪回転数信号の評価方法およびその装置
CN104908548B (zh) 车辆状态推定装置、车辆控制装置及车辆状态推定方法
US11904842B2 (en) Method for controlling driving force of vehicle
EP3621843A1 (en) Method and apparatus for controlling a vehicle
CN101119864A (zh) 与车辆装载状况相匹配的行驶动力学调节系统
JP4321285B2 (ja) 車輪の接地荷重推定装置
WO2013051690A1 (ja) 車両のロール角推定方法及び装置
CN119239621A (zh) 一种车速估算方法、装置、设备及可读存储介质
JP2000071961A (ja) 車両の挙動制御装置
CN114604043A (zh) 用于监控车辆加载的方法、装置、车辆和存储介质
US12459374B2 (en) Braking and driving force control apparatus
CN119428852B (zh) 对开坡道行驶控制方法及车辆
JP3254975B2 (ja) 車両の挙動制御装置
JP2005160165A (ja) 車輪加速度検出装置

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160824