CN107000755B - 用于估计影响车辆动力学变量的方法和对应的虚拟传感器 - Google Patents

用于估计影响车辆动力学变量的方法和对应的虚拟传感器 Download PDF

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Publication number
CN107000755B
CN107000755B CN201580053535.8A CN201580053535A CN107000755B CN 107000755 B CN107000755 B CN 107000755B CN 201580053535 A CN201580053535 A CN 201580053535A CN 107000755 B CN107000755 B CN 107000755B
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vehicle
variable
variables
estimation
dvs
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Chinese (zh)
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CN107000755A (zh
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M.米拉内塞
C.诺瓦拉
I.格勒罗
M.博南索内
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Modelway SRL
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    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/103—Side slip angle of vehicle body
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/12—Lateral speed
    • 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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/114—Yaw movement

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
CN201580053535.8A 2014-08-04 2015-08-03 用于估计影响车辆动力学变量的方法和对应的虚拟传感器 Expired - Fee Related CN107000755B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITTO2014A000631 2014-08-04
ITTO20140631 2014-08-04
PCT/IB2015/055895 WO2016020834A1 (en) 2014-08-04 2015-08-03 A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor

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CN107000755A CN107000755A (zh) 2017-08-01
CN107000755B true CN107000755B (zh) 2021-01-22

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US (1) US10597039B2 (enExample)
EP (1) EP3177499B1 (enExample)
JP (1) JP6573978B2 (enExample)
CN (1) CN107000755B (enExample)
WO (1) WO2016020834A1 (enExample)

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US10832426B2 (en) 2015-09-24 2020-11-10 Apple Inc. Systems and methods for surface monitoring
US10204461B2 (en) * 2016-07-19 2019-02-12 GM Global Technology Operations LLC Detection and reconstruction of sensor faults
US10442439B1 (en) * 2016-08-18 2019-10-15 Apple Inc. System and method for road friction coefficient estimation
IT201600087202A1 (it) * 2016-08-25 2018-02-25 I E T S P A Metodo ed apparato di regolazione automatica di un veicolo in una condizione di prestazione prestabilita
US10019008B2 (en) * 2016-09-28 2018-07-10 Baidu Usa Llc Sideslip compensated control method for autonomous vehicles
US10343685B2 (en) 2016-09-28 2019-07-09 Baidu Usa Llc Physical model and machine learning combined method to simulate autonomous vehicle movement
IT201600098423A1 (it) * 2016-09-30 2018-03-30 Modelway S R L Procedimento di progettazione di un sensore virtuale, relativo sensore virtuale, sistema e prodotti informatici
IT201700019122A1 (it) * 2017-02-21 2018-08-21 Automobili Lamborghini Spa Metodo di stima di un parametro di assetto di un veicolo.
CN107600073B (zh) * 2017-08-10 2019-07-05 同济大学 一种基于多源信息融合的车辆质心侧偏角估计系统及方法
DE102017214030A1 (de) * 2017-08-11 2019-02-14 Robert Bosch Gmbh Verfahren zum Bestimmen eines Reibwerts für einen Kontakt zwischen einem Reifen eines Fahrzeugs und einer Fahrbahn und Verfahren zum Steuern einer Fahrzeugfunktion eines Fahrzeugs
EP3531352A1 (en) * 2018-02-21 2019-08-28 Ningbo Geely Automobile Research & Development Co. Ltd. Method for identifying slow transient variations and/or local spatial variations of a physical property in a set of data points
US10875540B2 (en) * 2018-07-19 2020-12-29 Beijing Voyager Technology Co., Ltd. Ballistic estimation of vehicle data
CN109466558B (zh) * 2018-10-26 2020-08-04 重庆邮电大学 一种基于ekf和bp神经网络的路面附着系数估计方法
US11526724B2 (en) * 2019-08-21 2022-12-13 GM Global Technology Operations LLC Virtual sensor for estimating online unmeasurable variables via successive time derivatives
US11702084B2 (en) * 2019-11-25 2023-07-18 The Goodyear Tire & Rubber Company Vehicle sideslip angle estimation system and method
CN111391822B (zh) * 2020-03-27 2022-06-24 吉林大学 一种极限工况下汽车横纵向稳定性协同控制方法
CN111578931B (zh) * 2020-05-21 2022-03-04 中国人民解放军海军航空大学 基于在线滚动时域估计的高动态飞行器自主姿态估计方法
US12351188B2 (en) * 2023-11-28 2025-07-08 GM Global Technology Operations LLC Real-time reliability assessment method to enhance robustness of data-fusion based vehicle speed estimation
KR20250083835A (ko) * 2023-12-01 2025-06-10 에이치엘만도 주식회사 사이드 슬립 각 추정 장치 및 그 방법

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JP2882232B2 (ja) * 1993-03-17 1999-04-12 三菱自動車工業株式会社 車体重心スリップ角計測装置
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US8050838B2 (en) 2008-11-24 2011-11-01 GM Global Technology Operations LLC Kinematic estimator for vehicle lateral velocity using force tables

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Publication number Publication date
CN107000755A (zh) 2017-08-01
EP3177499B1 (en) 2021-10-20
US10597039B2 (en) 2020-03-24
JP6573978B2 (ja) 2019-09-11
EP3177499A1 (en) 2017-06-14
WO2016020834A1 (en) 2016-02-11
US20170225688A1 (en) 2017-08-10
JP2017532253A (ja) 2017-11-02

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