CN113573966B - 用于确定轮胎的摩擦曲线的系统和方法 - Google Patents

用于确定轮胎的摩擦曲线的系统和方法 Download PDF

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Publication number
CN113573966B
CN113573966B CN201980093569.8A CN201980093569A CN113573966B CN 113573966 B CN113573966 B CN 113573966B CN 201980093569 A CN201980093569 A CN 201980093569A CN 113573966 B CN113573966 B CN 113573966B
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CN
China
Prior art keywords
vehicle
state
tire friction
tire
function
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CN201980093569.8A
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English (en)
Chinese (zh)
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CN113573966A (zh
Inventor
K·伯恩拓普
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication of CN113573966A publication Critical patent/CN113573966A/zh
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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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • 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
    • 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
    • B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • 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
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0024—Variable gains
    • 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
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Tires In General (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN201980093569.8A 2019-03-11 2019-12-11 用于确定轮胎的摩擦曲线的系统和方法 Active CN113573966B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/298,245 US11597364B2 (en) 2019-03-11 2019-03-11 System and method for determining friction curve of tire
US16/298,245 2019-03-11
PCT/JP2019/051347 WO2020183871A1 (en) 2019-03-11 2019-12-11 System and method for determining friction curve of tire

Publications (2)

Publication Number Publication Date
CN113573966A CN113573966A (zh) 2021-10-29
CN113573966B true CN113573966B (zh) 2023-08-29

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CN201980093569.8A Active CN113573966B (zh) 2019-03-11 2019-12-11 用于确定轮胎的摩擦曲线的系统和方法

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Country Link
US (1) US11597364B2 (https=)
EP (1) EP3938263B1 (https=)
JP (1) JP7285971B2 (https=)
CN (1) CN113573966B (https=)
WO (1) WO2020183871A1 (https=)

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EP4703217A1 (en) * 2024-08-29 2026-03-04 Volvo Truck Corporation Learned tire slip-power/ or -force characteristics for vehicles or machines

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DE102019205405A1 (de) * 2019-04-15 2020-10-15 Zf Friedrichshafen Ag Ermittlung einer Eingangsgröße eines Fahrzeug-Aktuators mittels modellgestützter prädiktiver Regelung
FR3106885B1 (fr) * 2020-02-03 2021-12-24 Safran Procede d’aide à la navigation d’un porteur mobile
CN113492882B (zh) * 2021-07-14 2022-09-23 清华大学 一种实现车辆控制的方法、装置、计算机存储介质及终端
US20230219572A1 (en) * 2022-01-13 2023-07-13 GM Global Technology Operations LLC Traction control system using feedforward control
KR20230135225A (ko) * 2022-03-15 2023-09-25 현대자동차주식회사 전동화 차량의 사운드 발생 장치 및 방법
US12306316B2 (en) * 2022-06-30 2025-05-20 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling a device using a compound probabilistic filter
US20250319894A1 (en) * 2024-04-15 2025-10-16 Fca Us Llc Driver aggression monitoring during use of vehicle
CN120846701B (zh) * 2025-09-22 2025-12-09 成都赛力斯科技有限公司 一种汽车轮胎性能检测试验方法

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Also Published As

Publication number Publication date
EP3938263A1 (en) 2022-01-19
WO2020183871A1 (en) 2020-09-17
CN113573966A (zh) 2021-10-29
US20200290577A1 (en) 2020-09-17
JP2022523276A (ja) 2022-04-21
US11597364B2 (en) 2023-03-07
JP7285971B2 (ja) 2023-06-02
EP3938263B1 (en) 2025-04-16

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