DE3435866A1 - Method for determining the speed of a vehicle - Google Patents
Method for determining the speed of a vehicleInfo
- Publication number
- DE3435866A1 DE3435866A1 DE19843435866 DE3435866A DE3435866A1 DE 3435866 A1 DE3435866 A1 DE 3435866A1 DE 19843435866 DE19843435866 DE 19843435866 DE 3435866 A DE3435866 A DE 3435866A DE 3435866 A1 DE3435866 A1 DE 3435866A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- wheel
- speed
- time
- maximum
- 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.)
- Withdrawn
Links
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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
-
- 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
Abstract
Description
Verfahren zur Ermittlung derProcedure for determining the
Geschwindigkeit eines Fahrzeugs Die Erfindung betrifft ein Verfahren zur Ermittlung der Geschwindigkeit v eines Fahrzeugs, insbesondere Stra¢enfahrzeugs unter Einbeziehung der Signale von wenigstens zwei an wenigstens zwei Achsen des Fahrzeugs zugeordneten Meßwertgebern.Speed of a vehicle The invention relates to a method for determining the speed v of a vehicle, in particular a road vehicle taking into account the signals from at least two on at least two axes of the Transducers assigned to the vehicle.
Der Meßwert für die FahrzeuggeschwindigKeit v wird üblicherweise aus der Drehzahl der abrollenden Räder gewonnen. Diese Drehzahl wird mechanisch (Tachowelle) oder elektrisch (Impul sgeber) an die Informationsverarbeitung (z.B. Tachoanzeiger gemeldet. Diese Art der Geschwindigkeitsmessung ist fehlerbehaftet, wenn zwischen Rad und Straße Schlupf auftritt, was bei Anfahr- und Bremsvorgängen der Fall ist. Der Schlupf zwischen Rad und Straße ist eine wesentliche Größe für die Fahrstabilität in Grenzsituation, z.S. bei Notbremsung. Die Fahrgeschwindigkeitsänderung des Fahrzeugs über-2 schreitet normalerweise den lert 10 mis nicht. Dagegen kann die Radumfangsgeschwindigkeitsänderung bei Notbremsungen .4erte bis zu 500-2000 nis annehmen. Der Schlupf S ist definiert als S = v - Vi . Die Radumfangsgesc'nwindigkeit v ist v über Drehzahlsensoren am Rad relativ einfach zu messen. Die Fahrzeuggeschwindigkeit v dagegen kann bislang direkt nur mit aufwendigen Mitteln kontinuierlich erfaßt werden, wie z.B. durch Dopplerradar, ein zusätzlich ungebremstes Rad, u.a. Bei Antiblockierreglern ist es üblich, die Signale mehrerer Meßwertgeber für die Radgeschwindigkeit in die Bildung des Fahrzeuggeschwindigkeitssignals einzubeziehen und zusätzlich noch vorgegebene Steigungen für dieses Signal vorzugeben.The measured value for the vehicle speed v is usually from gained from the speed of the rolling wheels. This speed is mechanically (speedometer cable) or electrically (pulse generator) to the information processing (e.g. speedometer display reported. This type of speed measurement is prone to errors if between Wheel and road slip occurs, which is the case when starting and braking. The slip between the wheel and the road is an essential factor for driving stability in borderline situation, z.S. during emergency braking. The change in driving speed of the vehicle over-2 does not normally exceed lert 10 mis. On the other hand, the wheel circumferential speed change in the event of emergency braking, assume a fourth value of up to 500-2000 nis. The slip S is defined as S = v - Vi. The wheel circumference speed v is v via speed sensors am Wheel relatively easy to measure. The vehicle speed v, however, can so far can only be continuously recorded directly with complex means, how E.g. by Doppler radar, an additional unbraked wheel, e.g. with anti-lock controls it is customary to send the signals from several transducers for the wheel speed to the Include formation of the vehicle speed signal and additionally specified Specify gradients for this signal.
Bei der erfindungsgemäßen Ermittlung der Fahrzeuggeschwindigkeit wird von folgenden Überlegungen ausgegangen: Das Fahrzeug hat über die Reifenaufstandsflächen Kontakt zur Straßenoberfläche. Diese Oberfläche ist nicht vollkommen eben und homogen, sondern hat verschiedenartige Erhebungen, Vertiefungen, Rillen etc. Diese Straßenunebenheiten werden ncrmalerweise zuerst vom Vorderrad und nach der Zeit T0 = l/v vom Hinterrad überfahren, wenn v die Fahrzeuggeschwindigkeit und 1 der fahrzeugspezifische Radstand ist. Werden nun mit Hilfe von Radbewegungsmeßwertgebern, die am Radaufhängungsapparat (Dämpfer, Feder, Achsschenkel etc.) angebracht sind, die von den Straßenunebenheiten herrührenden spezifischen, insbesondere vertikalen Radbewegungen aus Vorder- und Hinterradbewegungen herausgefiltert, so läßt sich aus der Laufzeitverschiebung T0 die Fahrzeuggeschwindigkeit v = l/T0 ermitteln. Wegen der starken Störungen (Motorlauf, Reifenprofil, Antriebseinflüsse etc.) und des bei guter Straßenoberfläcne schwachen Nutzsignals muß dabei eine Korrelationsmethode angewendet werden. Die Meßwerte für die Seschwindigkeit fallen dann zar nur in langsamer Folge an, aber die Geschwindigkeit v ändert sich wegen der Fahrzeugmasse auch nur relativ langsam.When determining the vehicle speed according to the invention Assumed the following considerations: The vehicle has over the tire contact areas Contact with the road surface. This surface is not completely even and homogeneous, but has different types of elevations, depressions, grooves, etc. These bumps in the road are sometimes first from the front wheel and after the time T0 = l / v from the rear wheel run over if v is the vehicle speed and 1 is the vehicle-specific wheelbase is. Are now with the help of wheel movement sensors on the suspension apparatus (Damper, spring, steering knuckle etc.) are attached to the road bumps deriving specific, in particular vertical, wheel movements from front and rear If the rear wheel movements are filtered out, the transit time shift T0 determine the vehicle speed v = l / T0. Because of the strong disturbances (engine running, Tire profile, drive influences etc.) and the weak one with a good road surface A correlation method must be used for the useful signal. The measured values for the speed of movement then occurs only in slow succession, but the speed Because of the vehicle mass, v only changes relatively slowly.
Es ist bekannt, daß die Kreuzkorrelationsfunktion (,vxy(T)) zwei er Zeitfunktionen (t) und y(t) als der zeitliche Mittel -wert aus dem Produkt der um die Zeit T gegeneinander verschobenen Eingangsfunktionen definiert ist. Der Wert der Kreuzkorrelationsfunktion Yxy(X) ist ein Maß für die Ähnlichkeit der Signale x und y.It is known that the cross-correlation function (, vxy (T)) uses two time functions (t) and y (t) as the time mean value from the product of the input functions shifted relative to one another by the time T. is defined. The value of the cross-correlation function Yxy (X) is a measure of the similarity of the signals x and y.
Setzt man fur x (t) das Radbewegungssignal vom Hinterrad und für y (t) das des Vorderrades, so hat die Kreuzkorrelationsfunktion xy bei der Verschiebung um T0 = 11v gerade ein Maximum.If one sets the wheel movement signal from the rear wheel for x (t) and for y (t) that of the front wheel, the cross-correlation function has xy for the displacement just a maximum at T0 = 11v.
Anhand der Zeichnungen werden Ausführungsbeispiele der Erfindung erläutert.Exemplary embodiments of the invention are explained with the aid of the drawings.
Es zeigen: Fig. 1 - eine Prinzipskizze zur Erläuterung des Aufbaus, Fig. 2 - ein Blockschaltbild einer ersten Methode zur Ermittlung von T'o und damit von v, Fig. 3 - ein Blockschaltbild einer zweiten Methode zur Ermittlung von T0 bzw. v.They show: FIG. 1 - a schematic diagram to explain the structure, 2 - a block diagram of a first method for determining T'o and thus of v, Fig. 3 - a block diagram of a second method for determining T0 or v.
In Fig. 1 ist mit 1 ein Straßenfahrzeug bezeichnet, das auf einer Straße 2 fährt, die - wie bei 3 angedeutet - Unebenheilten aufweist. Vorderräder 4 und Hinterräder 5 sind mittels Aufhängungen 6 und 7 am Fahrzeug 1 befestigt. An diesen Aufhängungen Sind Meßwertgeber 8 und 9 befestigt, die Signale liefern, die e eine Funktion der durch die Unebenheiten verursachten, etwa vertikalen Radbewegungen sind. Der Meßwertgeber 8 soll ein Signal der Funktion y(t) und der Meßwertgeber 9 eines der Funktion x(t) an eine Auswerteschaltung 1G liefern.In Fig. 1, 1 denotes a road vehicle that is on a Road 2 goes, which - as indicated at 3 - has uneven healed. Front wheels 4 and rear wheels 5 are fastened to the vehicle 1 by means of suspensions 6 and 7. At These suspensions are attached to transducers 8 and 9, which deliver signals e a function of the approximately vertical wheel movements caused by the bumps are. The transducer 8 is to provide a signal of the function y (t) and the transducer 9 deliver one of the function x (t) to an evaluation circuit 1G.
Der Radabstand sei 1.The wheelbase is 1.
In Fig. 2 ist ein Ausführungsbeispiel der Auswerteschaltung 10 der Fig. 1 gezeigt. Das Signal y(t) vom Vorderrad wird in einem Block 20 um eine einstellbare Zeitspanne X verzögert und danach in einem Multiplizierer 21 mit dem Signal x (t) des Hinterrades multipliziert. In einem Block 22 wird dann der Mittelwert gebildet, der die Kreuzkorrelationsfunktion Yxy(T) ergibt. Ein Maximalwertdetektor 23 variiert die Zeitspanne s nun so lange, bis die Kreuzkorrelationsfunktion Yxy(T) ihrem Maximalwert annimmt (bei s0). Der Kehrwert der ermittelten Zeitspanne T0 multipliziert mit der Radstandlänge 1 ergibt die Fahrgeschwindigkeit v = l/T. Diese Rechenoperation wird im Block 24 durchgeführt. Die gesamte Korrelation wird vorzugsweise mit einem Mikrorechner durchgeführt. In Fig. 2, an embodiment of the evaluation circuit 10 is the Fig. 1 shown. The signal y (t) from the front wheel is adjustable in a block 20 Time span X delayed and then in a multiplier 21 with the signal x (t) of the rear wheel multiplied. The mean value is then formed in a block 22, which gives the cross-correlation function Yxy (T). A maximum value detector 23 varies the time span s now until the cross-correlation function Yxy (T) reaches its maximum value assumes (at s0). The reciprocal of the determined time period T0 multiplied by the Wheelbase length 1 gives the driving speed v = l / T. This arithmetic operation will carried out in block 24. The entire correlation is preferably carried out using a microcomputer carried out.
Die notwendige Maximalwertsuche kann durch Parallelarbeit mehrerer Korrelatoren, die jeweils aus den Gliedern 20-22 der fig. 2 bestehen, erheblich verkürzt werden. Dies zeigt Fig. 3. Es wird hier die Tatsache ausgenutzt, daß sich die Geschwindigkeit v und damit die Zeitspanne T0 nur stetig ändern können. Im gezeigten Beispiel werden nur noch die Korrelationsfunktionswerte um den vorhergehenden Meßwert °* herum durch zu dem orrelator 30 zusätzliche Korrelatoren 31 und 32 bestimmt. Die Korrelatoren 31 und 32 (es sind hier nur zwei zusätzliche Korrelatoren angenommen) arbeiten mit um + As 7 und - AT gegen T0* verschobenen Zeitspannen. Ein Maximalwertdetektor 34 hat dann nur noch den Maximalwert aus parallel vorliegenden Korrelationswerten auszusuchen.The necessary search for maximum values can be carried out by working several Correlators, each consisting of members 20-22 of fig. 2 exist, considerably be shortened. This is shown in FIG. 3. The fact that the speed v and thus the time span T0 can only change continuously. Im shown As an example, only the correlation function values around the previous measured value are shown ° * determined by correlators 31 and 32 additional to orrelator 30. Correlators 31 and 32 (only two additional correlators are assumed here) work with time spans shifted by + As 7 and - AT against T0 *. A maximum value detector 34 then only has the maximum value from correlation values present in parallel to choose.
Voraussetzung für das Funktionieren des Verfahrens ist eine gleiche Spurweite an den beiden Achsen. Störungen, die gleichzeitig auf die Radbewegungssensoren wirken (z.B. aus dem Antriebsstrang) oder die deterministisch sind (z.B. Profilstollen der Reifen) können u.U. durch eine Störgrößenaufschaltung in ihrer Wirkung auf die Korrelationsanalyse teilweise eliminiert werden.The prerequisite for the functioning of the procedure is the same Track width on both axles. Interferences simultaneously affecting the wheel motion sensors act (e.g. from the drive train) or which are deterministic (e.g. profile lugs of the tires) can, under certain circumstances, have an impact on the Correlation analysis can be partially eliminated.
Störungen, die das Meßverfahren unmöglich machen (verschiedene Spuren von Vorder- und Hinterrad, Kurvenfahrt, Schleudern, Aquaplaning etc.) müssen von einer intelligenten Logik erkannt und überbrückt werden (Extrapolation der letzten Meßwerte, Umschaltung bzw. Einbeziehung der Information aus den Raddrehzahlen).Disturbances that make the measurement process impossible (different tracks front and rear wheel, cornering, skidding, aquaplaning, etc.) must be from an intelligent logic can be recognized and bridged (extrapolation of the last Measured values, switching or inclusion of information from the wheel speeds).
Die Sensoranordnung kann doppelt (rechts-links) und damit redundant ausgeführt sein. Die Auswertung ist zwar rechenintensiv, kann aber mit den heute verfügbaren Mikrorechnern kostengünstig durchgeführt werden. Die Information der tatsächlichen Fahrzeuggeschwindigkeit erlaubt effektive Regelverfahren zur Fahrzeugführung, wie z.B. Anti-Blockier-System, Anfahr-Schl upf-Regel ung, Aqua-Pl ani ng-Erkennung etc.The sensor arrangement can be double (right-left) and thus redundant be executed. The evaluation is computationally intensive, but can be done with today's available microcomputers can be carried out inexpensively. The information of the actual vehicle speed allows effective control methods for driving the vehicle, such as anti-lock braking system, start-up slip control, aqua planning detection Etc.
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE19843435866 DE3435866A1 (en) | 1984-09-29 | 1984-09-29 | Method for determining the speed of a vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19843435866 DE3435866A1 (en) | 1984-09-29 | 1984-09-29 | Method for determining the speed of a vehicle |
Publications (1)
Publication Number | Publication Date |
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DE3435866A1 true DE3435866A1 (en) | 1986-04-10 |
Family
ID=6246733
Family Applications (1)
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DE19843435866 Withdrawn DE3435866A1 (en) | 1984-09-29 | 1984-09-29 | Method for determining the speed of a vehicle |
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Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1988000354A1 (en) * | 1986-07-02 | 1988-01-14 | Hughes Aircraft Company | Method and apparatus for precisely measuring relative velocity in an interferometric radiometer |
DE3719320A1 (en) * | 1987-06-10 | 1988-12-29 | Pfister Gmbh | METHOD AND DEVICE FOR DETERMINING THE ACTUAL SPEED OF A VEHICLE |
FR2626688A1 (en) * | 1988-02-02 | 1989-08-04 | Pfister Gmbh | AIRCRAFT AND METHOD AND APPARATUS FOR ITS PILOTAGE |
US4921312A (en) * | 1988-05-07 | 1990-05-01 | Lucas Industries Public Limited Company | Vehicle anti-lock braking system |
WO1990011214A1 (en) * | 1989-03-23 | 1990-10-04 | Robert Bosch Gmbh | Process for determining the speed of a vehicle |
EP1014092A2 (en) * | 1998-12-23 | 2000-06-28 | Alcatel | Method and device for the on-board determination of the speed of a land vehicle |
DE4409816C2 (en) * | 1993-03-24 | 2003-03-13 | Denso Corp | Vehicle speed calculation system and system using the same for monitoring a tire condition |
WO2005005993A1 (en) * | 2003-07-07 | 2005-01-20 | Nira Dynamics Ab | Method and system of determining the absolute velocity of a vehicle |
FR2860073A1 (en) * | 2003-09-24 | 2005-03-25 | Peugeot Citroen Automobiles Sa | Longitudinal velocity evaluating method for motor vehicle, involves estimating time lag between quantity characterizing vertical behavior of rear and front wheels, and estimating velocity according to time lag and wheel base of vehicle |
DE10354944A1 (en) * | 2003-11-25 | 2005-06-30 | Siemens Ag | Method for determining the speed of a vehicle having more than one axle taking into account the interval between two measurements and the distance between the two axles |
DE102012200303A1 (en) * | 2012-01-11 | 2013-07-11 | Robert Bosch Gmbh | Method for determining actual distance traveled by wheel of motor car, involves determining actual distance traveled between two wheel pulses measured as ratio of axial distance between front and rear axle |
DE102014201532A1 (en) * | 2014-01-28 | 2015-07-30 | Bayerische Motoren Werke Aktiengesellschaft | Determining the driving speed of a vehicle |
FR3027666A1 (en) * | 2014-10-27 | 2016-04-29 | Renault Sa | METHOD FOR DETECTING THE STATUS OF A ROAD |
DE102015224991A1 (en) * | 2015-12-11 | 2017-06-14 | Adc Automotive Distance Control Systems Gmbh | Method and system for determining a speed of a vehicle |
-
1984
- 1984-09-29 DE DE19843435866 patent/DE3435866A1/en not_active Withdrawn
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4814772A (en) * | 1986-07-02 | 1989-03-21 | Hughes Aircraft Company | Method and apparatus for precisely measuring relative velocity in an interferometric radiometer |
WO1988000354A1 (en) * | 1986-07-02 | 1988-01-14 | Hughes Aircraft Company | Method and apparatus for precisely measuring relative velocity in an interferometric radiometer |
DE3719320A1 (en) * | 1987-06-10 | 1988-12-29 | Pfister Gmbh | METHOD AND DEVICE FOR DETERMINING THE ACTUAL SPEED OF A VEHICLE |
US4965729A (en) * | 1987-06-10 | 1990-10-23 | Pfister Gmbh | Method and apparatus for improving the operational characteristics of a vehicle |
FR2626688A1 (en) * | 1988-02-02 | 1989-08-04 | Pfister Gmbh | AIRCRAFT AND METHOD AND APPARATUS FOR ITS PILOTAGE |
US4921312A (en) * | 1988-05-07 | 1990-05-01 | Lucas Industries Public Limited Company | Vehicle anti-lock braking system |
WO1990011214A1 (en) * | 1989-03-23 | 1990-10-04 | Robert Bosch Gmbh | Process for determining the speed of a vehicle |
DE4409816C2 (en) * | 1993-03-24 | 2003-03-13 | Denso Corp | Vehicle speed calculation system and system using the same for monitoring a tire condition |
EP1014092A3 (en) * | 1998-12-23 | 2004-02-11 | Alcatel | Method and device for the on-board determination of the speed of a land vehicle |
DE19859646A1 (en) * | 1998-12-23 | 2000-06-29 | Alcatel Sa | Method and device for determining the speed of a land vehicle inside the vehicle |
EP1014092A2 (en) * | 1998-12-23 | 2000-06-28 | Alcatel | Method and device for the on-board determination of the speed of a land vehicle |
WO2005005993A1 (en) * | 2003-07-07 | 2005-01-20 | Nira Dynamics Ab | Method and system of determining the absolute velocity of a vehicle |
US7676345B2 (en) | 2003-07-07 | 2010-03-09 | Nira Dynamics Ab | Method and system of determining the absolute velocity of a vehicle |
FR2860073A1 (en) * | 2003-09-24 | 2005-03-25 | Peugeot Citroen Automobiles Sa | Longitudinal velocity evaluating method for motor vehicle, involves estimating time lag between quantity characterizing vertical behavior of rear and front wheels, and estimating velocity according to time lag and wheel base of vehicle |
EP1522861A1 (en) * | 2003-09-24 | 2005-04-13 | Peugeot Citroen Automobiles S.A. | Method for determining the linear speed of a vehicl from vertical movements of the wheels, and vehicle equipped with such sensor |
DE10354944A1 (en) * | 2003-11-25 | 2005-06-30 | Siemens Ag | Method for determining the speed of a vehicle having more than one axle taking into account the interval between two measurements and the distance between the two axles |
DE10354944B4 (en) * | 2003-11-25 | 2007-10-18 | Siemens Ag | Method and arrangement for determining a driving speed |
DE102012200303A1 (en) * | 2012-01-11 | 2013-07-11 | Robert Bosch Gmbh | Method for determining actual distance traveled by wheel of motor car, involves determining actual distance traveled between two wheel pulses measured as ratio of axial distance between front and rear axle |
DE102014201532A1 (en) * | 2014-01-28 | 2015-07-30 | Bayerische Motoren Werke Aktiengesellschaft | Determining the driving speed of a vehicle |
FR3027666A1 (en) * | 2014-10-27 | 2016-04-29 | Renault Sa | METHOD FOR DETECTING THE STATUS OF A ROAD |
DE102015224991A1 (en) * | 2015-12-11 | 2017-06-14 | Adc Automotive Distance Control Systems Gmbh | Method and system for determining a speed of a vehicle |
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