DE69513232D1 - Verfahren und Vorrichtung zur Schätzung des Gefälle- und Seitenneigungswinkels einer Fahrbahn - Google Patents

Verfahren und Vorrichtung zur Schätzung des Gefälle- und Seitenneigungswinkels einer Fahrbahn

Info

Publication number
DE69513232D1
DE69513232D1 DE69513232T DE69513232T DE69513232D1 DE 69513232 D1 DE69513232 D1 DE 69513232D1 DE 69513232 T DE69513232 T DE 69513232T DE 69513232 T DE69513232 T DE 69513232T DE 69513232 D1 DE69513232 D1 DE 69513232D1
Authority
DE
Germany
Prior art keywords
slope
estimating
road
angle
slope angle
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
DE69513232T
Other languages
English (en)
Other versions
DE69513232T2 (de
Inventor
Stephen Robert Pastor
Gordon Leo Tierney
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.)
Motors Liquidation Co
Original Assignee
Motors Liquidation Co
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 Motors Liquidation Co filed Critical Motors Liquidation Co
Publication of DE69513232D1 publication Critical patent/DE69513232D1/de
Application granted granted Critical
Publication of DE69513232T2 publication Critical patent/DE69513232T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • 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
    • 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
    • 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
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B60G2400/0523—Yaw rate
    • 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
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • 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
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0192—Inclination due to load distribution or road gradient longitudinal with regard to vehicle
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0194—Inclination due to load distribution or road gradient transversal with regard to vehicle
    • 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
    • B60T2210/20—Road shapes
    • B60T2210/22—Banked curves
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE69513232T 1994-06-22 1995-06-06 Verfahren und Vorrichtung zur Schätzung des Gefälle- und Seitenneigungswinkels einer Fahrbahn Expired - Fee Related DE69513232T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US08/263,694 US5446658A (en) 1994-06-22 1994-06-22 Method and apparatus for estimating incline and bank angles of a road surface

Publications (2)

Publication Number Publication Date
DE69513232D1 true DE69513232D1 (de) 1999-12-16
DE69513232T2 DE69513232T2 (de) 2000-03-02

Family

ID=23002872

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69513232T Expired - Fee Related DE69513232T2 (de) 1994-06-22 1995-06-06 Verfahren und Vorrichtung zur Schätzung des Gefälle- und Seitenneigungswinkels einer Fahrbahn

Country Status (3)

Country Link
US (1) US5446658A (de)
EP (1) EP0689116B1 (de)
DE (1) DE69513232T2 (de)

Families Citing this family (99)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100207106B1 (ko) * 1994-04-06 1999-07-15 정몽규 자동차 주행도로의 기울기 측정장치 및 그 방법
DE4443522C2 (de) * 1994-12-07 1999-11-25 Daimler Chrysler Ag Verfahren zur Bestimmung der Fahrbahnneigung
DE69727225T2 (de) * 1996-06-24 2004-10-21 Breed Automotive Tech Kraftstofffluss-steuerungseinheit
KR20000022154A (ko) * 1996-06-24 2000-04-25 드레이어 론니 알 차량 안전 장치용 콘트롤러
KR20000022153A (ko) * 1996-06-24 2000-04-25 드레이어 론니 알 차량 안전 장치용 콘트롤러
US6246945B1 (en) * 1996-08-10 2001-06-12 Daimlerchrysler Ag Process and system for controlling the longitudinal dynamics of a motor vehicle
DE19749058A1 (de) * 1997-07-02 1999-01-07 Bosch Gmbh Robert Verfahren und Vorrichtung zur Regelung einer die Fahrzeugbewegung repräsentierenden Bewegungsgröße
WO1999001321A1 (de) * 1997-07-02 1999-01-14 Robert Bosch Gmbh Verfahren und vorrichtung zur regelung einer die fahrzeugbewegung repräsentierenden bewegungsgrösse
DE19751867A1 (de) 1997-11-22 1999-05-27 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer Kipptendenz eines Fahrzeuges
DE19751925A1 (de) * 1997-11-22 1999-05-27 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer Kipptendenz eines Fahrzeuges
DE19751839A1 (de) * 1997-11-22 1999-05-27 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer Kipptendenz eines Fahrzeuges
DE19802041A1 (de) 1998-01-21 1999-07-22 Bosch Gmbh Robert Verfahren und Vorrichtung zur Stabilisierung eines Fahrzeuges im Sinne einer Umkippvermeidung
DE19821617C1 (de) * 1998-05-15 1999-09-30 Daimler Chrysler Ag Verfahren und Vorrichtung zur Messung des Neigungswinkels in seitlich geneigten Kurven und deren Verwendung
GB9812264D0 (en) * 1998-06-09 1998-08-05 Rover Group Vehicle roll control
JP3662118B2 (ja) * 1998-08-07 2005-06-22 トヨタ自動車株式会社 車輌の加減速度演算方法
US6112147A (en) * 1998-08-17 2000-08-29 General Motors Corporation Vehicle yaw rate control with bank angle compensation
US6073065A (en) * 1998-09-04 2000-06-06 Ford Global Technologies, Inc. Method for detecting a bank angle experienced by a moving vehicle
US6195606B1 (en) * 1998-12-07 2001-02-27 General Motors Corporation Vehicle active brake control with bank angle compensation
US6202009B1 (en) 1998-12-22 2001-03-13 Ford Global Technologies, Inc. Method for detecting fault of vehicle motion sensors
JP3649036B2 (ja) * 1999-03-26 2005-05-18 日産自動車株式会社 ヨーレート推定装置
JP3509631B2 (ja) * 1999-05-28 2004-03-22 トヨタ自動車株式会社 車輌用データ記録装置
GB9927295D0 (en) 1999-11-19 2000-01-12 Rover Group Vehicle suspensions
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6834218B2 (en) 2001-11-05 2004-12-21 Ford Global Technologies, Llc Roll over stability control for an automotive vehicle
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
DE10019137A1 (de) * 2000-04-18 2001-10-25 Bosch Gmbh Robert Schlupfregelsystem für ein Fahrzeug
US7109856B2 (en) 2000-09-25 2006-09-19 Ford Global Technologies, Llc Wheel lifted and grounded identification for an automotive vehicle
US6904350B2 (en) 2000-09-25 2005-06-07 Ford Global Technologies, Llc System for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control
US7233236B2 (en) 2000-09-25 2007-06-19 Ford Global Technologies, Llc Passive wheel lift identification for an automotive vehicle using operating input torque to wheel
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
US6356188B1 (en) 2000-09-25 2002-03-12 Ford Global Technologies, Inc. Wheel lift identification for an automotive vehicle
US7132937B2 (en) 2000-09-25 2006-11-07 Ford Global Technologies, Llc Wheel lift identification for an automotive vehicle using passive and active detection
US6351694B1 (en) 2001-01-16 2002-02-26 Ford Global Technologies, Inc. Method for robust estimation of road bank angle
US6799092B2 (en) 2001-02-21 2004-09-28 Ford Global Technologies, Llc Rollover stability control for an automotive vehicle using rear wheel steering and brake control
DE10154341A1 (de) * 2001-11-06 2003-05-15 Volkswagen Ag Verfahren und Vorrichtung zur Bestimmung einer geometrischen Fahrzeugneigung eines Kraftfahrzeuges
US6654674B2 (en) 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function
US6556908B1 (en) 2002-03-04 2003-04-29 Ford Global Technologies, Inc. Attitude sensing system for an automotive vehicle relative to the road
US6804584B2 (en) 2002-03-20 2004-10-12 Ford Global Technologies, Llc Method for determining the roll angle of a vehicle using an estimation of road bank angle
US7003389B2 (en) 2002-08-01 2006-02-21 Ford Global Technologies, Llc System and method for characterizing vehicle body to road angle for vehicle roll stability control
US7302331B2 (en) 2002-08-01 2007-11-27 Ford Global Technologies, Inc. Wheel lift identification for an automotive vehicle
US7079928B2 (en) 2002-08-01 2006-07-18 Ford Global Technologies, Llc System and method for determining a wheel departure angle for a rollover control system with respect to road roll rate and loading misalignment
US6941205B2 (en) 2002-08-01 2005-09-06 Ford Global Technologies, Llc. System and method for deteching roll rate sensor fault
US7085639B2 (en) * 2002-08-01 2006-08-01 Ford Global Technologies, Llc System and method for characterizing the road bank for vehicle roll stability control
US7194351B2 (en) 2002-08-01 2007-03-20 Ford Global Technologies, Llc System and method for determining a wheel departure angle for a rollover control system
US7085642B2 (en) * 2002-08-05 2006-08-01 Ford Global Technologies, Llc Method and system for correcting sensor offsets
US20040024505A1 (en) 2002-08-05 2004-02-05 Salib Albert Chenouda System and method for operating a rollover control system in a transition to a rollover condition
US6963797B2 (en) 2002-08-05 2005-11-08 Ford Global Technologies, Llc System and method for determining an amount of control for operating a rollover control system
US20040024504A1 (en) 2002-08-05 2004-02-05 Salib Albert Chenouda System and method for operating a rollover control system during an elevated condition
US6961648B2 (en) 2002-08-05 2005-11-01 Ford Motor Company System and method for desensitizing the activation criteria of a rollover control system
US7430468B2 (en) 2002-08-05 2008-09-30 Ford Global Technologies, Llc System and method for sensitizing the activation criteria of a rollover control system
US9162656B2 (en) 2003-02-26 2015-10-20 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle
US7653471B2 (en) 2003-02-26 2010-01-26 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle
US7239949B2 (en) 2003-02-26 2007-07-03 Ford Global Technologies, Llc Integrated sensing system
US6847875B2 (en) 2003-02-26 2005-01-25 Ford Global Technologies, Llc Method for determining a longitudinal vehicle velocity by compensating individual wheel speeds
DE10316760A1 (de) * 2003-04-10 2004-10-28 Continental Aktiengesellschaft Verfahren zum Betreiben einer Niveauregelanlage eines Kraftfahrzeuges
US7136731B2 (en) 2003-06-11 2006-11-14 Ford Global Technologies, Llc System for determining vehicular relative roll angle during a potential rollover event
KR100520144B1 (ko) * 2003-12-26 2005-10-10 삼성전자주식회사 가속도계를 이용한 이동체의 속력측정 및 그 장치
KR100731695B1 (ko) 2004-01-27 2007-06-25 주식회사 만도 경사노면 판단방법
US7308350B2 (en) 2004-05-20 2007-12-11 Ford Global Technologies, Llc Method and apparatus for determining adaptive brake gain parameters for use in a safety system of an automotive vehicle
US7451032B2 (en) 2004-06-02 2008-11-11 Ford Global Technologies, Llc System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system
US7640081B2 (en) 2004-10-01 2009-12-29 Ford Global Technologies, Llc Roll stability control using four-wheel drive
US7715965B2 (en) 2004-10-15 2010-05-11 Ford Global Technologies System and method for qualitatively determining vehicle loading conditions
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
US7660654B2 (en) 2004-12-13 2010-02-09 Ford Global Technologies, Llc System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system
FR2884311A1 (fr) * 2005-04-12 2006-10-13 Renault Sas Procede d'estimation de la pente et du devers d'une route a partir d'un vehicule automobile, et dispositif de mise en oeuvre
US7480547B2 (en) * 2005-04-14 2009-01-20 Ford Global Technologies, Llc Attitude sensing system for an automotive vehicle relative to the road
US7089674B1 (en) * 2005-04-29 2006-08-15 Hendon Burton D Angle-measuring gauge for motorcycles and the like
KR100651549B1 (ko) * 2005-05-13 2007-02-28 삼성전자주식회사 이동체의 속력 측정 장치 및 방법
US20060276939A1 (en) * 2005-06-02 2006-12-07 Ameen Yashwant K Real-time determination of grade and superelevation angles of roads
US7590481B2 (en) 2005-09-19 2009-09-15 Ford Global Technologies, Llc Integrated vehicle control system using dynamically determined vehicle conditions
DE102005047021B3 (de) * 2005-09-30 2007-05-10 Siemens Ag Anordnung zur Bestimmung eines absoluten Neigungswinkels gegenüber der Horizontalen
US7600826B2 (en) 2005-11-09 2009-10-13 Ford Global Technologies, Llc System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls
US8121758B2 (en) 2005-11-09 2012-02-21 Ford Global Technologies System for determining torque and tire forces using integrated sensing system
US7788007B2 (en) * 2006-01-12 2010-08-31 Gm Global Technology Operations, Inc. Roll stability indicator for vehicle rollover control
JP2010509585A (ja) * 2006-11-06 2010-03-25 テレ アトラス ベスローテン フエンノートシャップ ２次元及び３次元の正確な場所及び方位を判定する装置及び方法
CN102385060A (zh) * 2006-11-06 2012-03-21 电子地图有限公司 用于二维和三维精确位置和定向确定的布置和方法
US8396623B2 (en) * 2007-09-28 2013-03-12 Fujitsu Ten Limited Driver recorder and method for setting up the driver recorder
KR20090048227A (ko) * 2007-11-09 2009-05-13 팅크웨어(주) 이동체의 주행상태 판단 장치 및 방법
US8566034B1 (en) 2008-06-11 2013-10-22 Trimble Navigation Limited Inclinometer with calibration
US9157737B2 (en) * 2008-06-11 2015-10-13 Trimble Navigation Limited Altimeter with calibration
US8150651B2 (en) * 2008-06-11 2012-04-03 Trimble Navigation Limited Acceleration compensated inclinometer
TWI337585B (en) * 2008-10-16 2011-02-21 Univ Nat Chiao Tung Road angle estimation system and its method
DE102009000922A1 (de) * 2009-02-17 2010-08-19 Robert Bosch Gmbh Verfahren zur Fahrzeugstabilisierung mit integrierter Funktion zur Umkippvermeidung
US9278693B2 (en) * 2009-03-24 2016-03-08 Ford Global Technologies, Llc System and method for improving vehicle performance on grade
US8200374B2 (en) * 2009-05-27 2012-06-12 GM Global Technology Operations LLC Methods of operating a control system of a vehicle and vehicle systems
DE102009026688A1 (de) * 2009-06-03 2010-12-09 Zf Friedrichshafen Ag Verfahren zur Kalibrierung eines Neigungssensors
DE102012024971A1 (de) * 2012-12-20 2013-07-04 Daimler Ag Verfahren zum kombinierten Bestimmen eines momentanen Wankwinkels eines Kraftfahrzeugs und einer momentanen Fahrbahn-Querneigung eines von dem Kraftfahrzeug befahrenen kurvenförmigen Fahrbahnabschnitts
GB2510417B (en) * 2013-02-04 2016-06-15 Jaguar Land Rover Ltd Method and system of angle estimation
JP6045517B2 (ja) * 2014-01-30 2016-12-14 三菱電機株式会社 車両傾斜角度計測装置及び光軸制御信号生成装置
US10241215B2 (en) * 2015-11-19 2019-03-26 Agjunction Llc Sensor alignment calibration
DE102016204018A1 (de) * 2016-03-11 2017-09-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Querneigung einer Fahrbahn
JP6380468B2 (ja) * 2016-06-21 2018-08-29 マツダ株式会社 四輪駆動車の制御装置
US9791279B1 (en) 2016-06-30 2017-10-17 U-Blox Ag System for and method of determining angular position of a vehicle
US10836386B2 (en) 2017-11-10 2020-11-17 GM Global Technology Operations LLC Determination of roll angle and bank angle with suspension displacement data
US11117589B2 (en) * 2019-01-29 2021-09-14 GM Global Technology Operations LLC System and method for determining roadway bank angle
CN113085874B (zh) * 2021-03-23 2022-12-27 浙江吉利控股集团有限公司 基于俯仰角与纵向坡度确定侧向加速度的方法及装置
CN113799783B (zh) * 2021-10-09 2023-08-22 摩登汽车有限公司 应用于车辆的道路横向坡度测量方法及系统
CN114896953B (zh) * 2022-04-26 2024-06-18 东风汽车集团股份有限公司 车身侧倾刚度性能指标正向分解方法及分解装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA995979A (en) * 1973-07-17 1976-08-31 Allmanna Svenska Elektriska Aktiebolaget Vehicle stabilizing systems
US4586138A (en) * 1982-07-29 1986-04-29 The United States Of America As Represented By The United States Department Of Energy Route profile analysis system and method
SE441039B (sv) * 1983-12-08 1985-09-02 Gote Palsgard Anordning for metning av sidolutningen hos ett underlag med hjelp av en derpa framforbar vagn
US4531300A (en) * 1984-05-07 1985-07-30 Sperry Corporation Electronic inclination gauge with acceleration compensation
JPH01122716A (ja) * 1987-11-05 1989-05-16 Hitachi Ltd 自動車のアクティブサスペンション制御方式
US5132906A (en) * 1990-06-11 1992-07-21 Ford Motor Company Road surface friction and hill slope estimator
US5043896A (en) * 1990-06-11 1991-08-27 Ford Motor Company Vehicle braking system controller/road friction and hill slope tracking system
JP2541353B2 (ja) * 1990-09-18 1996-10-09 三菱自動車工業株式会社 車両用アクティブサスペンション装置
US5258912A (en) * 1991-06-24 1993-11-02 General Motors Corporation Wheel understeer speed control
US5243564A (en) * 1991-08-05 1993-09-07 Toyota Jidosha Kabushiki Kaisha Doppler-effect vehicle ground-speed detecting apparatus having means for detecting vehicle body inclination
US5333944A (en) * 1991-08-06 1994-08-02 Toyota Jidosha Kabushiki Kaisha Electrically controlled vehicle brake system having means for controlling braking based on detected actual braking effect and determined target value

Also Published As

Publication number Publication date
US5446658A (en) 1995-08-29
DE69513232T2 (de) 2000-03-02
EP0689116B1 (de) 1999-11-10
EP0689116A3 (de) 1997-10-08
EP0689116A2 (de) 1995-12-27

Similar Documents

Publication Publication Date Title
DE69513232D1 (de) Verfahren und Vorrichtung zur Schätzung des Gefälle- und Seitenneigungswinkels einer Fahrbahn
DE69624644D1 (de) Verfahren und Vorrichtung zur Messung des Zustands einer Strassenoberfläche
DE69739701D1 (de) Verfahren und Vorrichtung zur Schätzung der Giergeschwindigkeit eines Fahrzeuges
DE69708424T2 (de) Verfahren und Vorrichtung zur Detektierung des Zustandes einer Polierscheibe
DE69521969T2 (de) Verfahren und Vorrichtung zur Lichtbogen unterstützten CVD
DE59910150D1 (de) Verfahren und vorrichtung zur sicherstellung des stillstandes eines fahrzeugs
DE69835102D1 (de) Verfahren und vorrichtung zur gesicherten übertragung eines datensatzes
DE69111094D1 (de) Vorrichtung und Verfahren zur Schätzung des Reibungskoeffizienten einer Strassenoberfläche.
DE69534726D1 (de) Verfahren und Vorrichtung zur Kapillarentwässerung
DE69532916D1 (de) Verfahren und vorrichtung zur bilddarstellung
DE69313597D1 (de) Verfahren und Vorrichtung zur Megaschallreinigung
DE69510587D1 (de) Verfahren und Vorrichtung zur Ermittlung der Fahrbahnsteigung
DE69601552D1 (de) Verfahren und vorrichtung zur bildverbesserung
DE69700728T2 (de) Verfahren und Vorrichtung zur Lageerhaltung eines Satelliten
DE59811327D1 (de) Verfahren und vorrichtung zur ermittlung der fahrzeugmasse
DE69618900D1 (de) Verfahren und vorrichtung zur interpolation einer formfreien oberfläche
DE69724138D1 (de) Gerät und dazugehöriges verfahren zur kalibrierung einer vorrichtung
DE69523717T2 (de) Verfahren und vorrichtung zur richtungssteuerung eines objektes
DE69522327T2 (de) Verfahren und vorrichtung zur richtungsbestimmung
DE59507839D1 (de) Verfahren und Vorrichtung zur Positionsbestimmung eines Fahrzeugs
DE69604374T2 (de) Verfahren und vorrichtung zur freien kurveninterpolation
DE69430119T2 (de) Vorrichtung und verfahren zur motorregelung
DE69700740D1 (de) Verfahren und Vorrichtung zur Kristallziehung
DE69525879T2 (de) Verfahren und Vorrichtung zur Dickebewertung
DE69818452D1 (de) Verfahren und vorrichtung zur ermittlung einer route

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee