CN112997127B - 包括仅基于前轮来评估后轮速度的机动车辆控制模块和方法 - Google Patents

包括仅基于前轮来评估后轮速度的机动车辆控制模块和方法 Download PDF

Info

Publication number
CN112997127B
CN112997127B CN201980074326.XA CN201980074326A CN112997127B CN 112997127 B CN112997127 B CN 112997127B CN 201980074326 A CN201980074326 A CN 201980074326A CN 112997127 B CN112997127 B CN 112997127B
Authority
CN
China
Prior art keywords
speed
sub
wheel
vehicle
rear 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.)
Active
Application number
CN201980074326.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN112997127A (zh
Inventor
伦纳特·维特
亚历克斯·帕特罗·卡奎伊
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.)
Hitachi Astemo France SAS
Original Assignee
Foundation Brakes France SAS
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 Foundation Brakes France SAS filed Critical Foundation Brakes France SAS
Publication of CN112997127A publication Critical patent/CN112997127A/zh
Application granted granted Critical
Publication of CN112997127B publication Critical patent/CN112997127B/zh
Active 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
    • B60W40/10—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
    • B60W40/105—Speed
    • 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • 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
    • 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
    • B60W2520/26—Wheel slip
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
CN201980074326.XA 2018-11-12 2019-11-08 包括仅基于前轮来评估后轮速度的机动车辆控制模块和方法 Active CN112997127B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1860439 2018-11-12
FR1860439A FR3088450B1 (fr) 2018-11-12 2018-11-12 Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement
PCT/FR2019/052674 WO2020099768A1 (fr) 2018-11-12 2019-11-08 Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement

Publications (2)

Publication Number Publication Date
CN112997127A CN112997127A (zh) 2021-06-18
CN112997127B true CN112997127B (zh) 2024-05-31

Family

ID=67185064

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980074326.XA Active CN112997127B (zh) 2018-11-12 2019-11-08 包括仅基于前轮来评估后轮速度的机动车辆控制模块和方法

Country Status (6)

Country Link
US (1) US11926329B2 (https=)
EP (1) EP3853683B1 (https=)
JP (1) JP7668211B2 (https=)
CN (1) CN112997127B (https=)
FR (1) FR3088450B1 (https=)
WO (1) WO2020099768A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3146637B1 (fr) 2023-03-17 2025-04-25 Hitachi Astemo France Freinage dynamique sur 3 roues
CN116642712A (zh) * 2023-04-18 2023-08-25 上海高仙自动化科技发展有限公司 车轮异常检测方法及装置、电子设备、存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1592932A (en) * 1977-02-14 1981-07-15 Wabco Fahrzeugbremsen Gmbh Anti-skid brake control systems
US5292184A (en) * 1991-03-12 1994-03-08 Sumitomo Electric Industries, Ltd. Wheel speed correction device which compensates for changes in tire diameter and during vehicle turns
US5458405A (en) * 1993-03-31 1995-10-17 Toyota Jidosha Kabushiki Kaisha Motor vehicle brake pressure control apparatus wherein brake pressure is controlled based on estimated future wheel speed
US6052643A (en) * 1995-06-22 2000-04-18 Itt Manufacturing Enterprises, Inc. Method of detecting cornering for an antilock regulation system
CN103886190A (zh) * 2014-03-10 2014-06-25 清华大学 一种用于四轮独立驱动电动汽车的驱动防滑控制算法
CN104080627A (zh) * 2012-01-26 2014-10-01 日产自动车株式会社 车辆的控制装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ZA738692B (en) * 1972-12-14 1974-09-25 Kelsey Hayes Co Four-wheel skid control
JPH06286595A (ja) * 1993-03-31 1994-10-11 Toyota Motor Corp 車輪過大スリップ防止装置
FR3017095B1 (fr) * 2014-02-03 2017-05-12 Renault Sas Procede de suivi de trajectoire d'un vehicule automobile et vehicule associe
DE102015209244A1 (de) * 2015-05-20 2016-11-24 Avl Commercial Driveline & Tractor Engineering Gmbh Verfahren zur Steuerung einer Raddrehzahl wenigstens eines Rades einer antreibbaren Achse eines zweispurigen Fahrzeugs mit zwei antreibbaren Achsen und zweispuriges Fahrzeug mit wenigstens zwei antreibbaren Achsen
DE102017008949A1 (de) * 2017-09-25 2019-03-28 Lucas Automotive Gmbh Radschlupfregelung für ein Kraftfahrzeug
JP6871398B2 (ja) * 2017-09-27 2021-05-12 日立Astemo株式会社 ブレーキ装置、車両の制御装置及び電動ブレーキ制御装置
KR102484938B1 (ko) * 2018-10-24 2023-01-04 현대자동차주식회사 차량의 휠 속도 추정 장치 및 방법

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1592932A (en) * 1977-02-14 1981-07-15 Wabco Fahrzeugbremsen Gmbh Anti-skid brake control systems
US5292184A (en) * 1991-03-12 1994-03-08 Sumitomo Electric Industries, Ltd. Wheel speed correction device which compensates for changes in tire diameter and during vehicle turns
US5458405A (en) * 1993-03-31 1995-10-17 Toyota Jidosha Kabushiki Kaisha Motor vehicle brake pressure control apparatus wherein brake pressure is controlled based on estimated future wheel speed
US6052643A (en) * 1995-06-22 2000-04-18 Itt Manufacturing Enterprises, Inc. Method of detecting cornering for an antilock regulation system
CN104080627A (zh) * 2012-01-26 2014-10-01 日产自动车株式会社 车辆的控制装置
CN103886190A (zh) * 2014-03-10 2014-06-25 清华大学 一种用于四轮独立驱动电动汽车的驱动防滑控制算法

Also Published As

Publication number Publication date
JP7668211B2 (ja) 2025-04-24
CN112997127A (zh) 2021-06-18
EP3853683A1 (fr) 2021-07-28
US11926329B2 (en) 2024-03-12
JP2022506843A (ja) 2022-01-17
EP3853683B1 (fr) 2023-12-27
US20220001881A1 (en) 2022-01-06
FR3088450A1 (fr) 2020-05-15
WO2020099768A1 (fr) 2020-05-22
FR3088450B1 (fr) 2021-09-24

Similar Documents

Publication Publication Date Title
JP6921096B2 (ja) 車両のアンチロックブレーキ及びアンチスリップレギュレーションの性能を向上させるためのデバイス並びに方法
CN104781092B (zh) 用于获取轮胎胎纹的胎纹深度的方法、控制器和系统
JP3539722B2 (ja) 車両の路面摩擦係数推定装置
US10479368B2 (en) Method and device for operating a driver assistance system, and driver assistance system
US20110130974A1 (en) Method and apparatus for road surface friction estimation based on the self aligning torque
US10576985B2 (en) Method and device for operating a driver assistance system, and driver assistance system
CN108791298A (zh) 用于计算道路摩擦估计值的方法和系统
CN108770352B (zh) 轮胎刚度估算和道路摩擦估算的方法和装置
US20100179718A1 (en) Method and device for monitoring the state of tires
CN110325416B (zh) 最大附着系数的确定
CN114787014A (zh) 车载道路摩擦估计
US20150224978A1 (en) Braking/driving force control device
US20230382390A1 (en) Vehicle
KR102863496B1 (ko) 타이어 코너링 스티프니스 추정 방법, 타이어 코너링 스티프니스 추정값을 이용한 노면 상태 검출 방법, 및 이들을 수행하는 장치
KR20150039966A (ko) 횡가속도와 조향각을 변수로 휠속 센서의 고장을 진단하는 방법
CN112997127B (zh) 包括仅基于前轮来评估后轮速度的机动车辆控制模块和方法
CN111132878B (zh) 摩擦估计
CN106573622B (zh) 用于设定滑动率阈值的方法和行驶动态调节设备
EP1760451A1 (en) Method and system for road surface friction coefficient estimation
CN108778863A (zh) 调节车辆重心高度估计值的方法
JP5089558B2 (ja) 路面摩擦係数推定装置
CN117584981A (zh) 用于估计摩擦势系数的方法和估计装置
CN111845767B (zh) 对于车辆的转弯方向测定
CN118742787A (zh) 基于车辆的惯性传感器系统的测量数据识别道路状态
KR101027958B1 (ko) 차량 전복 방지 시스템

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant