DE102014118491A8 - Verfahren zum Schätzen von Steigung und Rollrichtung - Google Patents

Verfahren zum Schätzen von Steigung und Rollrichtung Download PDF

Info

Publication number
DE102014118491A8
DE102014118491A8 DE102014118491.2A DE102014118491A DE102014118491A8 DE 102014118491 A8 DE102014118491 A8 DE 102014118491A8 DE 102014118491 A DE102014118491 A DE 102014118491A DE 102014118491 A8 DE102014118491 A8 DE 102014118491A8
Authority
DE
Germany
Prior art keywords
roll direction
estimating pitch
estimating
pitch
roll
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.)
Pending
Application number
DE102014118491.2A
Other languages
English (en)
Other versions
DE102014118491A1 (de
Inventor
Emrah Adamey
Mathew Alan Boesch
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.)
Ford Global Technologies LLC
Original Assignee
Ford Global Technologies LLC
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 Ford Global Technologies LLC filed Critical Ford Global Technologies LLC
Publication of DE102014118491A1 publication Critical patent/DE102014118491A1/de
Publication of DE102014118491A8 publication Critical patent/DE102014118491A8/de
Pending legal-status Critical Current

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
    • B60W40/02—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
    • B60W40/076—Slope angle of the road
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine
    • 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
    • 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
    • B60W2520/28—Wheel speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F02D2041/001—Controlling intake air for engines with variable valve actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
    • F02D2200/501—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/18—Control of the engine output torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
    • F02D41/062—Introducing corrections for particular operating conditions for engine starting or warming up for starting
    • F02D41/065—Introducing corrections for particular operating conditions for engine starting or warming up for starting at hot start or restart
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
    • F02N11/00—Starting of engines by means of electric motors
    • F02N11/08—Circuits or control means specially adapted for starting of engines
    • F02N11/0814—Circuits or control means specially adapted for starting of engines comprising means for controlling automatic idle-start-stop
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02P—IGNITION, OTHER THAN COMPRESSION IGNITION, FOR INTERNAL-COMBUSTION ENGINES; TESTING OF IGNITION TIMING IN COMPRESSION-IGNITION ENGINES
    • F02P5/00—Advancing or retarding ignition; Control therefor
    • F02P5/04—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions
    • F02P5/145—Advancing or retarding ignition; Control therefor automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions using electrical means
    • F02P5/15—Digital data processing
    • F02P5/1502—Digital data processing using one central computing unit

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
DE102014118491.2A 2013-12-30 2014-12-12 Verfahren zum Schätzen von Steigung und Rollrichtung Pending DE102014118491A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/143,230 US9168925B2 (en) 2013-12-30 2013-12-30 Method for estimating grade and rolling direction
US14/143,230 2013-12-30

Publications (2)

Publication Number Publication Date
DE102014118491A1 DE102014118491A1 (de) 2015-07-02
DE102014118491A8 true DE102014118491A8 (de) 2015-09-10

Family

ID=53372174

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102014118491.2A Pending DE102014118491A1 (de) 2013-12-30 2014-12-12 Verfahren zum Schätzen von Steigung und Rollrichtung

Country Status (3)

Country Link
US (1) US9168925B2 (de)
CN (1) CN104742910B (de)
DE (1) DE102014118491A1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9340212B2 (en) * 2014-04-01 2016-05-17 GM Global Technology Operations LLC System and method for estimating road grade based on an output of a longitudinal acceleration sensor in a vehicle
EP3487737B1 (de) * 2016-07-19 2020-05-06 Volvo Truck Corporation Verfahren und anordnung zur bestimmung der strassenneigung
KR102466053B1 (ko) * 2017-12-27 2022-11-14 현대자동차주식회사 자동 변속기 차량의 경사로 밀림 방지 방법
US10730502B2 (en) * 2019-01-08 2020-08-04 GM Global Technology Operations LLC Method and apparatus to control vehicle operation on a grade
JP6936275B2 (ja) * 2019-04-22 2021-09-15 本田技研工業株式会社 車両
KR102664124B1 (ko) * 2019-09-09 2024-05-10 현대자동차주식회사 도로의 경사각 추정 장치 및 그 방법
CN111731309B (zh) * 2020-06-28 2021-08-10 中国第一汽车股份有限公司 坡度估计方法、装置、设备及车辆

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6714851B2 (en) * 2002-01-07 2004-03-30 Ford Global Technologies, Llc Method for road grade/vehicle pitch estimation
DE602005027845D1 (de) 2004-08-06 2011-06-16 Honda Motor Co Ltd Steuervorrichtung für fahrzeuge
US7668645B2 (en) 2004-10-15 2010-02-23 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
FR2914894B1 (fr) * 2007-04-12 2009-07-17 Peugeot Citroen Automobiles Sa Systeme d'aide a la conduite dans les pentes pour vehicule automobile
US7828694B2 (en) * 2007-08-16 2010-11-09 Ford Global Technologies, Llc Rollback control of a hybrid electric vehicle
EP2221581B1 (de) * 2009-02-18 2017-07-19 Harman Becker Automotive Systems GmbH Verfahren zur Schätzung eines antriebsbezogenen Betriebsparameters
US8880288B2 (en) * 2009-06-16 2014-11-04 Robert Bosch Gmbh Determining low-speed driving direction in a vehicle
CN102700551B (zh) * 2012-05-31 2015-05-20 清华大学 一种车辆行驶过程中路面坡度的实时估计方法

Also Published As

Publication number Publication date
CN104742910A (zh) 2015-07-01
US9168925B2 (en) 2015-10-27
DE102014118491A1 (de) 2015-07-02
CN104742910B (zh) 2020-02-18
US20150183434A1 (en) 2015-07-02

Similar Documents

Publication Publication Date Title
HK1251026A1 (zh) 改進的干燥設備和方法
EP2852930A4 (de) Vorrichtung und verfahren zur ausführung von aufgaben
EP2942703A4 (de) Verfahren und vorrichtung zur gemeinsamen nutzung von anwendungen
HK1220429A1 (zh) 用於執行救援操作的方法和設備
BR112015007125A2 (pt) aparelho e método
GB201319151D0 (en) Apparatus and method for performing passive sesing
DE102014118491A8 (de) Verfahren zum Schätzen von Steigung und Rollrichtung
DE112014000172A5 (de) Verfahren und Vorrichtung für einen automatischen Lenkeingriff
DE112014002147A5 (de) Verfahren zum Anschweißen von Sicherungselementen
DE112013004449T8 (de) Vorrichtung und Verfahren zum Optimieren von halbaktiven Auslastungen
DE102013107932A8 (de) Verfahren zum dreidimensionalen Umformen von flächigem Material
BR112015019224A2 (pt) aparelho, e método
BR112015021083A2 (pt) método
GB201302046D0 (en) Pulse width measurement method and apparatus
DE102014113519A8 (de) Elektronisches Bauelement, Anordnung und Verfahren
FI20135921A (fi) Menetelmä metallien käsittelemiseksi
HK1212055A1 (en) Method and device for making web page
GB2534100B (en) Electronic apparatus and method for executing application thereof
IL245203B (en) Lithographic method and apparatus
FI20135780A (fi) Menetelmä ja laite kehon koostumuksen määrittämiseksi
FI20135330A (fi) Menetelmä ja laitteisto pintalietteen poistoon
IL246214A0 (en) Inspection method and device and lithographic device
DE112014001054A5 (de) Aktoreinrichtung und Verfahren zu deren Herstellung
DE112014002473A5 (de) Verfahren und Einrichtung zum Trennen von Hohlkammerprofilen
DE112014001536A5 (de) Verfahren zum Betreiben eines Tachographensystems und Tachographensystem

Legal Events

Date Code Title Description
R082 Change of representative

Representative=s name: ETL IP PATENTANWALTSGESELLSCHAFT MBH, DE

Representative=s name: ETL IP PATENT- UND RECHTSANWALTSGESELLSCHAFT M, DE

Representative=s name: ETL WABLAT & KOLLEGEN PATENT- UND RECHTSANWALT, DE

R082 Change of representative

Representative=s name: ETL IP PATENTANWALTSGESELLSCHAFT MBH, DE

Representative=s name: ETL IP PATENT- UND RECHTSANWALTSGESELLSCHAFT M, DE

R012 Request for examination validly filed