DE69003901T2 - Strassenoberflächenabtastsystem für ein Fahrzeug. - Google Patents

Strassenoberflächenabtastsystem für ein Fahrzeug.

Info

Publication number
DE69003901T2
DE69003901T2 DE90308510T DE69003901T DE69003901T2 DE 69003901 T2 DE69003901 T2 DE 69003901T2 DE 90308510 T DE90308510 T DE 90308510T DE 69003901 T DE69003901 T DE 69003901T DE 69003901 T2 DE69003901 T2 DE 69003901T2
Authority
DE
Germany
Prior art keywords
vehicle
road surface
scanning system
surface scanning
road
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.)
Expired - Fee Related
Application number
DE90308510T
Other languages
English (en)
Other versions
DE69003901D1 (de
Inventor
Raglan Horatio Andrew Ha Tribe
Neil Gordon Thomson
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.)
ZF International UK Ltd
Original Assignee
Lucas Industries Ltd
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 Lucas Industries Ltd filed Critical Lucas Industries Ltd
Application granted granted Critical
Publication of DE69003901D1 publication Critical patent/DE69003901D1/de
Publication of DE69003901T2 publication Critical patent/DE69003901T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/17—Magnetic/Electromagnetic
    • B60G2401/174—Radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/40—Steering
    • B60G2500/42—Sensibility
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/14—Differentiating means, i.e. differential control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/60—Signal noise suppression; Electronic filtering means
    • B60G2600/604—Signal noise suppression; Electronic filtering means low pass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/24—Steering, cornering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9318—Controlling the steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Length-Measuring Devices Using Wave Or Particle Radiation (AREA)
  • Length Measuring Devices By Optical Means (AREA)
DE90308510T 1989-08-10 1990-08-02 Strassenoberflächenabtastsystem für ein Fahrzeug. Expired - Fee Related DE69003901T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB898918306A GB8918306D0 (en) 1989-08-10 1989-08-10 Road surface sensing system for a vehicle

Publications (2)

Publication Number Publication Date
DE69003901D1 DE69003901D1 (de) 1993-11-18
DE69003901T2 true DE69003901T2 (de) 1994-02-10

Family

ID=10661459

Family Applications (1)

Application Number Title Priority Date Filing Date
DE90308510T Expired - Fee Related DE69003901T2 (de) 1989-08-10 1990-08-02 Strassenoberflächenabtastsystem für ein Fahrzeug.

Country Status (6)

Country Link
US (1) US5061932A (de)
EP (1) EP0412719B1 (de)
JP (1) JPH0386619A (de)
DE (1) DE69003901T2 (de)
ES (1) ES2047268T3 (de)
GB (1) GB8918306D0 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013002071A1 (de) * 2013-02-01 2014-08-07 Valeo Schalter Und Sensoren Gmbh Verfahren zur Hinderniserkennung im Fahrweg eines Fahrzeugs durch einen Ultraschallsensor
DE102016207435A1 (de) * 2016-04-29 2017-11-02 Ford Global Technologies, Llc Fahrzeug sowie System und Verfahren zum Erzeugen von an einem Lenkrad eines Steer-by-Wire-Lenksystems angreifenden Rückmeldekräften
DE102017205513A1 (de) * 2017-03-31 2018-10-04 Zf Friedrichshafen Ag Verfahren und Vorrichtung zum Einstellen einer Betriebsstrategie für ein Fahrzeug

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US6233510B1 (en) * 1999-10-15 2001-05-15 Meritor Heavy Vehicle Technology, Llc Method and system for predicting road profile
US6480102B1 (en) 2002-01-23 2002-11-12 Ford Global Technologies, Inc. Method and apparatus for activating a crash countermeasure in response to the road condition
DE102005008403B4 (de) * 2005-02-24 2008-08-21 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Sensoreinrichtung zur Messung des Einfederwegs und/oder der Einfedergeschwindigkeit von Achsen von Fahrzeugen
US7240540B2 (en) * 2005-10-31 2007-07-10 Gm Global Technology Operations, Inc. Rough road detection system
DE102006039353A1 (de) * 2006-08-22 2008-03-06 Daimler Ag Vorrichtung und Verfahren zur Beeinflussung der Federkraftcharakteristik eines aktiven Fahrwerks eines Kraftfahrzeugs
US7909417B2 (en) * 2006-12-01 2011-03-22 Ford Global Technologies, Llc Braking control system for vehicle
US8285447B2 (en) * 2007-03-20 2012-10-09 Enpulz, L.L.C. Look ahead vehicle suspension system
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WO2012032655A1 (ja) * 2010-09-10 2012-03-15 トヨタ自動車株式会社 サスペンション装置
US9662955B2 (en) * 2011-09-06 2017-05-30 Jaguar Land Rover Limited Suspension control device
US9533539B2 (en) * 2011-10-20 2017-01-03 GM Global Technology Operations LLC Vehicle suspension system and method of using the same
JP5710029B2 (ja) * 2012-01-10 2015-04-30 三菱電機株式会社 移動距離計測装置
DE102012015492B4 (de) * 2012-08-04 2016-05-12 Audi Ag Verfahren und Vorrichtung zum Betreiben eines Fahrwerks
DE102013018924A1 (de) * 2013-11-13 2015-05-13 Audi Ag Verfahren zum Kontrollieren eines Aktors
DE102013018923B4 (de) 2013-11-13 2017-05-11 Audi Ag Verfahren zum Kontrollieren eines Aktors
GB2523092B (en) * 2014-02-12 2017-11-01 Jaguar Land Rover Ltd A system for use in a vehicle
DE102014008675B4 (de) * 2014-06-13 2017-09-21 Audi Ag Verfahren zum Betreiben eines Radaufhängungssystems
CN104590271A (zh) * 2014-12-02 2015-05-06 浙江吉利汽车研究院有限公司 一种路面探测方法及系统
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US9989636B2 (en) * 2015-03-26 2018-06-05 Deere & Company Multi-use detection system for work vehicle
US10247816B1 (en) * 2015-07-06 2019-04-02 Apple Inc. Apparatus and method to measure slip and velocity
US11100673B2 (en) 2015-09-24 2021-08-24 Apple Inc. Systems and methods for localization using surface imaging
US10832426B2 (en) 2015-09-24 2020-11-10 Apple Inc. Systems and methods for surface monitoring
JP6347248B2 (ja) * 2015-10-07 2018-06-27 トヨタ自動車株式会社 車両用サスペンション制御装置
FR3044602A1 (fr) * 2015-12-02 2017-06-09 Claude Secchi Suspension pour vehicule automobile assistee par radar et calculateur
GB2552706B (en) * 2016-08-04 2019-09-11 Jaguar Land Rover Ltd A system for use in a vehicle
JP6809166B2 (ja) * 2016-11-25 2021-01-06 日産自動車株式会社 路面判断方法および路面判断装置
DE102017201664A1 (de) * 2017-02-02 2018-08-02 Robert Bosch Gmbh Verfahren zur Lokalisierung eines höher automatisierten Fahrzeugs in einer digitalen Karte
CN106842341A (zh) * 2017-02-16 2017-06-13 北京市道路工程质量监督站 沥青路面分层检测方法及装置
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IT201800008039A1 (it) * 2018-08-10 2020-02-10 Sistemi Sospensioni Spa Riconoscimento di prestazioni degradate in un sistema di sospensione di un veicolo.
US11378652B2 (en) * 2019-09-03 2022-07-05 GM Global Technology Operations LLC Enhancement of vehicle radar system robustness based on elevation information
DE102020212069A1 (de) 2020-09-25 2022-03-31 Volkswagen Aktiengesellschaft Straßengeführtes Kraftfahrzeug mit mindestens einem Stromabnehmer für mindestens eine Oberleitung und Verfahren zum Ansteuern eines Stromabnehmers
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013002071A1 (de) * 2013-02-01 2014-08-07 Valeo Schalter Und Sensoren Gmbh Verfahren zur Hinderniserkennung im Fahrweg eines Fahrzeugs durch einen Ultraschallsensor
DE102016207435A1 (de) * 2016-04-29 2017-11-02 Ford Global Technologies, Llc Fahrzeug sowie System und Verfahren zum Erzeugen von an einem Lenkrad eines Steer-by-Wire-Lenksystems angreifenden Rückmeldekräften
DE102016207435B4 (de) 2016-04-29 2021-08-12 Ford Global Technologies, Llc Fahrzeug sowie System und Verfahren zum Erzeugen von an einem Lenkrad eines Steer-by-Wire-Lenksystems angreifenden Rückmeldekräften
DE102017205513A1 (de) * 2017-03-31 2018-10-04 Zf Friedrichshafen Ag Verfahren und Vorrichtung zum Einstellen einer Betriebsstrategie für ein Fahrzeug
DE102017205513B4 (de) * 2017-03-31 2019-08-29 Zf Friedrichshafen Ag Verfahren und Vorrichtung zum Einstellen einer Betriebsstrategie für ein Fahrzeug

Also Published As

Publication number Publication date
ES2047268T3 (es) 1994-02-16
EP0412719B1 (de) 1993-10-13
DE69003901D1 (de) 1993-11-18
US5061932A (en) 1991-10-29
JPH0386619A (ja) 1991-04-11
EP0412719A1 (de) 1991-02-13
GB8918306D0 (en) 1989-09-20

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