DE102008022580A1 - Multi-axle vehicle's i.e. double-tracked vehicle, driving speed determining method, involves determining actual vehicle driving speed from time delay between same irregular portions of normal force or vertical acceleration characteristics - Google Patents

Multi-axle vehicle's i.e. double-tracked vehicle, driving speed determining method, involves determining actual vehicle driving speed from time delay between same irregular portions of normal force or vertical acceleration characteristics Download PDF

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DE102008022580A1
DE102008022580A1 DE200810022580 DE102008022580A DE102008022580A1 DE 102008022580 A1 DE102008022580 A1 DE 102008022580A1 DE 200810022580 DE200810022580 DE 200810022580 DE 102008022580 A DE102008022580 A DE 102008022580A DE 102008022580 A1 DE102008022580 A1 DE 102008022580A1
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vehicle
driving speed
normal force
vertical acceleration
time delay
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Mirek GÖBEL
Horst Flechtner
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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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
    • B60W40/105—Speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • 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
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • 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
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/80—Devices characterised by the determination of the time taken to traverse a fixed distance using auto-correlation or cross-correlation detection means
    • G01P3/803—Devices characterised by the determination of the time taken to traverse a fixed distance using auto-correlation or cross-correlation detection means in devices of the type to be classified in G01P3/66

Abstract

The method involves metrologically determining normal forces or vertical accelerations, acting in a vertical direction, at front and rear wheels of a multi-axle vehicle. An actual vehicle driving speed is determined from a time delay between same irregular portions of temporal normal force characteristics or vertical acceleration characteristics of the front wheel compared to the rear wheel notifies a distance between the wheels. Computation of the driving speed is separately performed for both vehicle sides.

Description

Die Erfindung betrifft ein Verfahren zum Bestimmen der Fahrgeschwindigkeit eines mehrachsigen Fahrzeugs.The The invention relates to a method for determining the driving speed a multi-axle vehicle.

Die Fahrzeuggeschwindigkeit wird in heutigen Fahrzeugen nicht direkt gemessen, sondern aus den Raddrehzahlen berechnet, was jedoch aufgrund des nicht konstanten, sondern sich unter anderem mit Abnutzung ändernden Rad- oder Reifenumfangs sowie bei Vorliegen von nennenswertem Schlupf zwischen Rad-Reifen und Fahrbahn ungenaue Resultate liefert. Eine alternative direkte Erfassung der Fahrzeug-Geschwindigkeit beispielsweise durch optische oder satellitengestützten Methoden findet wegen hohen Aufwands bzw. teilweise ebenfalls relativ großer Ungenauigkeit bisher im Serieneinsatz von Kraftfahrzeugen keinen Einsatz.The Vehicle speed is not directly in today's vehicles measured, but calculated from the wheel speeds, which, however, due of non-constant but changing with, among other things, wear and tear Wheel or tire circumference and in the presence of significant slip between wheel tire and roadway gives inaccurate results. A alternative direct detection of vehicle speed, for example due to optical or satellite based methods due high effort or sometimes also relatively large inaccuracy so far in the series use of motor vehicles no use.

Hiermit soll nun ein alternatives Verfahren zur Bestimmung der Fahrgeschwindigkeit eines mehrachsigen Fahrzeugs aufgezeigt werden, welches genaue Resultate zu liefern in der Lage ist (= Aufgabe der vorliegenden Erfindung).Herewith Now is an alternative method for determining the driving speed of a multi-axle vehicle, which results are accurate to deliver (= object of the present invention).

Die Lösung dieser Aufgabe ist dadurch gekennzeichnet, dass die im wesentlichen in Vertikalrichtung wirkenden Normalkräfte oder Vertikal-Beschleunigungen an zumindest zwei in Fahrtrichtung hintereinander liegenden Rädern des Fahrzeugs messtechnisch ermittelt werden und dass aus dem Zeitversatz zwischen gleichen regellosen Anteilen des zeitlichen Normalkraft-Verlaufs oder Vertikalbeschleunigungs-Verlaufs eines vorderen Rades gegenüber denjenigen eines hinteren Rades in Kenntnis des Abstandes zwischen diesen beiden Rädern auf die aktuelle Fahrzeug-Fahrgeschwindigkeit geschlossen wird.The solution this object is characterized in that the substantially vertically acting normal forces or vertical accelerations at least two in the direction of travel behind one another wheels of the Vehicle be determined by measurement and that from the time offset between equal random parts of the temporal normal force course or vertical acceleration history of a front wheel relative to those a rear wheel knowing the distance between the two wheels is closed to the current vehicle speed.

Vorzugsweise kann der Zeitversatz zwischen dem Normalkraft-Verlauf oder Vertikalbeschleunigungs-Verlauf des vorderen Rades und demjenigen des hinteren Rades durch Kreuzkorrelation bezüglich eines ausgeprägten Maximalwerts ermittelt werden. Im Sinne einer vorteilhaften Weiterbildung kann an einem zweispuriges Fahrzeug die Berechnung der Fahrgeschwindigkeit für beide Fahrzeug-Seiten getrennt durchgeführt und aus der Differenz der getrennt ermittelten Fahrgeschwindigkeiten auf die Gierrate des Fahrzeugs geschlossen werden.Preferably For example, the time offset between the normal force history or vertical acceleration history of the front wheel and that of the rear wheel by cross-correlation in terms of a pronounced maximum value be determined. In terms of an advantageous development on a two-lane vehicle the calculation of the driving speed for both Vehicle pages performed separately and from the difference of separately determined driving speeds on the yaw rate of Vehicle to be closed.

Insbesondere wenn beispielsweise aus anderen Gründen ohnehin die an verschiedenen Rädern eines Fahrzeugs wirkenden Kräfte oder Beschleunigungen, zumindest jedoch die in Vertikalrichtung wirkenden Kräfte (= Normalkräfte) oder Beschleunigungen gemessen werden, so besteht die Möglichkeit, aus diesen Messwerten auf die aktuelle Fahrgeschwindigkeit des Fahrzeugs zu schließen. Ausdrücklich sei erwähnt, dass die besagte Messung aber auch ausschließlich zur Ermittlung der Fzg.-Fahrgeschwindigkeit durchgeführt werden kann. Zur Bestimmung der Fahrgeschwindigkeit wird dabei die Tatsache ausgenutzt, dass die Fahrbahnoberflächen eine unregelmäßige Feinstruktur aufweisen. Überfährt ein im Fahrzeug vorne angeordnetes Rad das durch diese unregelmäßige Oberflächenstruktur gebildete Höhenprofil, so kommt es zu kleinen Vertikalanregungen dieses Rads. Im Rauschen der jeweils gemessenen Normalkraft sind diese Anregungen enthalten. Da die in Fzg.-Längsrichtung hintereinander angeordneten Räder bei Abrollen auf dieser Fahrbahnoberfläche das gleiche Höhenprofil überfahren, kann aus den regellosen Anteilen in der Normalkraftmessung oder in der Vertikalbeschleunigungs-Messung auf die zeitliche Differenz der Überfahrt geschlossen werden. Nachdem der Abstand zwischen den hintereinander angeordneten Rädern bekannt ist, kann aus der zeitlichen Differenz (= Zeitversatz) die Fahrgeschwindigkeit des Fahrzeugs einfach ermittelt werden.Especially if, for example, for any other reasons anyway at different wheels of a vehicle acting forces or accelerations, but at least those in the vertical direction acting forces (= Normal forces) or accelerations are measured, it is possible to from these measured values to the current driving speed of the vehicle close. Expressly be mentioned that said measurement but also exclusively for determining the vehicle speed carried out can be. To determine the driving speed while the Fact that the road surfaces have an irregular fine structure exhibit. Overflowed In the vehicle front wheel arranged by this irregular surface texture formed height profile, so it comes to small vertical excitations of this wheel. In the noise the measured normal force, these suggestions are included. Because of the longitudinal direction successively arranged wheels when rolling over on this road surface run over the same height profile, can from the random shares in the normal force or in the vertical acceleration measurement on the time difference the crossing getting closed. After the distance between the consecutive arranged wheels is known, can from the time difference (= time offset) the Driving speed of the vehicle can be easily determined.

Bevorzugt mittels einer Kreuzkorrelation der Normalkräfte, die bereits um die Mittelwerte bereinigt sind, lässt sich der besagte Zeitversatz (= Zeitdifferenz) schnell und genau ermitteln. Dies wird im weiteren für eine Berechnung der Fahrgeschwindigkeit mittels einer Kreuzkorrelation der Normalkräfte noch detaillierter beschrieben, wobei anstelle der Normalkräfte selbstverständlich auch die radindividuellen Vertikalbeschleunigungen gesetzt werden können.Prefers by means of a cross-correlation of the normal forces already around the mean values are cleaned up, leaves the said time offset (= time difference) is fast and accurate determine. This will be further for a calculation of the driving speed described in more detail by means of a cross-correlation of the normal forces, where instead of the normal forces Of course also the wheel-specific vertical accelerations are set can.

Die Kreuzkorrelation ist ein Maß für die Ähnlichkeit zweier um eine Zeitspanne Δt verschobener Signale x(t) und y(t). Mit N zeitdiskreten, realen Messwerten x = [x1; x2; ::: xN] und y = [y1; y2; ::: yN]berechnet sich die Kreuzkorrelation Rxy(m) nach anhand folgender Gleichung:

Figure 00030001
The cross-correlation is a measure of the similarity of two signals x (t) and y (t) shifted by a time Δt. With N time-discrete, real measured values x = [x 1 ; x 2 ; ::: x N ] and y = [y 1 ; y 2 ; ::: y N ] the cross-correlation R xy (m) is calculated according to the following equation:
Figure 00030001

In dieser Gleichung ist die Kreuzkorrelation Rxy(m) eine Funktion von m Schritten mit der Schrittweite T. Das heißt, dass die Messreihen x, y um m Schritte zueinander verschoben werden und damit jeweils deren Kreuzkorrelation berechnet wird. Der Zeitversatz der beiden Messwertreihen ergibt sich aus derjenigen Anzahl von Schritten m, bei denen die Kreuzkorrelation einen ausgeprägten Maximalwert aufweist: Δt = T·mmax mit mmax bei max(Rxy(m)), mmax ϵ N. In this equation, the cross-correlation R xy (m) is a function of m steps with the step size T. This means that the measurement series x, y are shifted by m steps relative to one another and their respective cross-correlation is calculated. The time offset of the two measured value series results from the number of steps m at which the cross-correlation has a pronounced maximum value: Δt = T · m Max with m Max at max (R xy (m)), m Max ε N.

Die Längsgeschwindigkeit des Fahrzeug-Schwerpunkts berechnet sich aus dem Radstand I (= Abstand zwischen den hintereinander angeordneten Rädern) und dem ermittelten Zeitversatz zu

Figure 00030002
und hängt von der Schrittweite T ab. Das hat zur Folge, dass die kleinste Auflösung der Geschwindigkeit, mit ΔυCx bezeichnet, wiederum von der Geschwindigkeit selbst abhängt. Die kleinste Auflösung ergibt sich aus dem Vergleich der Ergebnisse für die Geschwindigkeit bei der gefundenen Schrittanzahl mmax sowie der um 1 erhöhten Schrittanzahl mmax+1:
Figure 00030003
The longitudinal speed of the vehicle's center of gravity is calculated from the wheelbase I (= distance between the wheels arranged one behind the other) and the determined time offset
Figure 00030002
and depends on the step size T. As a result, the smallest resolution of the velocity, denoted by Δυ Cx , again depends on the velocity itself. The smallest resolution results from the comparison of the results for the speed at the found number of steps m max and the number of steps m max + 1 increased by 1 :
Figure 00030003

Die Genauigkeit der Geschwindigkeitsermittlung per Kreuzkorrelationsrechnung der Normalkräfte von hintereinander rollenden Rädern ist im besonderen Maß von der Rate abhängig, mit der die Normalkräfte am Rade abgetastet werden. Empfohlen wird auf Grund von Untersuchung der kleinstmöglichen Auflösung eine Abtastschrittweite von T = 0,001 Sekunden. Untersuchungen unter verschiedenen Randbedingungen haben zudem aufgezeigt, dass die Kreuzkorrelationsrechnung selbst auf sehr glatten Fahrbahnoberflächen oder mit verschiedenen Reifen an Vorderachse und Hinterachse sowie bei der Fahrt mit einem Schwimmwinkel von bis zu 5° ein ausreichend genaues Ergebnis liefert. Weiterhin wird vorgeschlagen, im Anschluss an die Berechnung des Zeitversatzes der miteinander korrelierenden Normalkräfte eine Bearbeitung dieses Rohsignals in Form einer Plausibilisierung und Filterung durchzuführen.The Accuracy of speed determination by cross-correlation calculation the normal forces of rolling wheels behind each other is in a special measure of depending on the rate, with the normal forces be scanned on the wheel. Recommended is by investigation the smallest possible resolution one sample pitch of T = 0.001 seconds. Investigations under various boundary conditions have also shown that the cross-correlation calculation even on very smooth road surfaces or with different ones Tires on front axle and rear axle as well as when driving with one Swim angle of up to 5 ° provides sufficiently accurate result. Furthermore, it is proposed following the calculation of the time offset of each other correlating normal forces a processing of this raw signal in the form of a plausibility check and filtering.

Im Sinne einer vorteilhaften Weiterbildung kann an einem zweispurigen Fahrzeug je Fahrzeugseite aus den vorliegenden Normalkräften eine. „seitenspezifische” Längsgeschwindigkeit κυ x,r/l ermittelt werden. Damit ist in einem weiteren Schritt die Bestimmung der Gierrate des Fahrzeugs nach der Gleichung κψ . = (κυ x,r – κυ x,l)/b möglich.In terms of an advantageous development can on a two-lane vehicle per vehicle side of the present normal forces a. "Page-specific" longitudinal velocity κ υ x, r / l are determined. Thus, in a further step, the determination of the yaw rate of the vehicle according to the equation κψ. = (κ υ x, r - κ υ x, l ) / b possible.

Mit der hier vorgestellten Methode kann die Fahrzeug-Längsgeschwindigkeit bzw. Fahrgeschwindigkeit insbesondere unabhängig vom Schlupfzustand der Räder ermittelt werden. Die damit erreichten Verbesserungen des in Fahrdynamikregelungen weiter zu verarbeitenden Signals „Längsgeschwindigkeit” wirken sich selbstverständlich positiv auf die Regelgüte der fahrdynamischen Regelsysteme aus. Damit leistet die Radkraftmessung oder Messung der Radbeschleunigung in Vertikalrichtung mit daraus mit der vorgestellten Methode abgeleiteter Fahrzeug-Fahrgeschwindigkeit einen indirekten Beitrag zu besseren Fahreigenschaften und mehr Fahrsicherheit eines Kraftfahrzeugs, wobei noch darauf hingewiesen sei, dass durchaus eine Vielzahl von Details abweichend von obigen Erläuterungen gestaltet sein kann, ohne den Inhalt der Patentansprüche zu verlassen.With The method presented here can be the vehicle longitudinal speed or driving speed, in particular regardless of the slip state of Wheels determined become. The thus achieved improvements in driving dynamics regulations continue to be processed signal "longitudinal speed" act of course positive on the control quality the dynamic driving control systems. This is done by the wheel force measurement or measuring the wheel acceleration in the vertical direction with it with the presented method derived vehicle speed an indirect contribution to better driving characteristics and more Driving safety of a motor vehicle, where it should be noted Be that quite a lot of details deviate from the above Explanations may be designed without departing from the content of the claims.

Claims (3)

Verfahren zum Bestimmen der Fahrgeschwindigkeit eines mehrachsigen Fahrzeugs, wobei die im wesentlichen in Vertikalrichtung wirkenden Normalkräfte oder Vertikal-Beschleunigungen an zumindest zwei in Fahrtrichtung hintereinander liegenden Rädern des Fahrzeugs messtechnisch ermittelt werden und aus dem Zeitversatz zwischen gleichen regellosen Anteilen des zeitlichen Normalkraft-Verlaufs oder Vertikalbeschieunigungs-Verlaufs eines vorderen Rades gegenüber denjenigen eines hinteren Rades in Kenntnis des Abstandes zwischen diesen beiden Rädern auf die aktuelle Fahrzeug-Fahrgeschwindigkeit geschlossen wird.Method for determining the driving speed a multi-axle vehicle, the substantially vertical direction acting normal forces or vertical accelerations on at least two in the direction of travel consecutive wheels be determined by measurement of the vehicle and from the time offset between equal random parts of the temporal normal force course or Verticalbeschieunigungs course of a front wheel over those a rear wheel knowing the distance between the two wheels is closed to the current vehicle speed. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Zeitversatz zwischen dem Normalkraft-Verlauf oder Vertikalbeschleunigungs-Verlaufs des vorderen Rades und demjenigen des hinteren Rades durch Kreuzkorrelation bezüglich eines ausgeprägten Maximalwerts ermittelt wird.A method according to claim 1, characterized in that the time offset between the normal force history or vertical acceleration curve of the front wheel and that of the rear wheel is determined by cross-correlation with respect to a pronounced maximum value. Verfahren nach Anspruch 1 oder 2 für ein zweispuriges Fahrzeug, dadurch gekennzeichnet, dass die Berechnung der Fahrgeschwindigkeit für beide Fahrzeug-Seiten getrennt durchgeführt und aus der Differenz der getrennt ermittelten Fahrgeschwindigkeiten auf die Gierrate des Fahrzeugs geschlossen wird.The method of claim 1 or 2 for a two-lane Vehicle, characterized in that the calculation of the driving speed for both Vehicle pages performed separately and from the difference of separately determined driving speeds on the yaw rate of Vehicle is closed.
DE200810022580 2008-05-07 2008-05-07 Multi-axle vehicle's i.e. double-tracked vehicle, driving speed determining method, involves determining actual vehicle driving speed from time delay between same irregular portions of normal force or vertical acceleration characteristics Withdrawn DE102008022580A1 (en)

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* Cited by examiner, † Cited by third party
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WO2013092956A3 (en) * 2011-12-21 2013-09-12 Technische Universität Berlin Method and device for determining wheel diameters on rail vehicles
DE102015224991A1 (en) * 2015-12-11 2017-06-14 Adc Automotive Distance Control Systems Gmbh Method and system for determining a speed of a vehicle
DE102021208475A1 (en) 2021-08-04 2023-02-09 Robert Bosch Gesellschaft mit beschränkter Haftung Method for determining the speed of a single-track vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013092956A3 (en) * 2011-12-21 2013-09-12 Technische Universität Berlin Method and device for determining wheel diameters on rail vehicles
DE102015224991A1 (en) * 2015-12-11 2017-06-14 Adc Automotive Distance Control Systems Gmbh Method and system for determining a speed of a vehicle
DE102021208475A1 (en) 2021-08-04 2023-02-09 Robert Bosch Gesellschaft mit beschränkter Haftung Method for determining the speed of a single-track vehicle

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