EP0954751A1 - Procede et dispositif pour determiner avec precision la vitesse d'un composant entraine en rotation, notamment la vitesse d'une roue d'un vehicule - Google Patents

Procede et dispositif pour determiner avec precision la vitesse d'un composant entraine en rotation, notamment la vitesse d'une roue d'un vehicule

Info

Publication number
EP0954751A1
EP0954751A1 EP98947450A EP98947450A EP0954751A1 EP 0954751 A1 EP0954751 A1 EP 0954751A1 EP 98947450 A EP98947450 A EP 98947450A EP 98947450 A EP98947450 A EP 98947450A EP 0954751 A1 EP0954751 A1 EP 0954751A1
Authority
EP
European Patent Office
Prior art keywords
speed
rotating component
discontinuities
determined
vehicle
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.)
Ceased
Application number
EP98947450A
Other languages
German (de)
English (en)
Inventor
Sascha Heinrichs-Bartscher
Thomas Landsiedel
Hagen Reuter
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.)
Siemens AG
Original Assignee
Mannesmann VDO AG
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
Priority claimed from DE19747918A external-priority patent/DE19747918A1/de
Application filed by Mannesmann VDO AG filed Critical Mannesmann VDO AG
Publication of EP0954751A1 publication Critical patent/EP0954751A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • 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
    • F02D41/0097—Electrical control of supply of combustible mixture or its constituents using means for generating speed signals
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • 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

Definitions

  • the invention relates to a method for the precise determination of the speed of a rotating component, in particular the speed of a vehicle wheel, in which discontinuities existing on the circumference of the rotating component are sensed and the speed is determined from the occurrence of the discontinuities over time, and an arrangement for carrying out the method.
  • Known systems for detecting the speed of motor vehicles use a signal provided by speed sensors to determine the vehicle speed.
  • the speed sensor e.g. B. a Hall sensor or an inductive sensor is arranged opposite a vehicle wheel and detects the wheel speed corresponding to this wheel.
  • the electrical signal corresponding to the wheel speed is fed to a control unit which calculates the wheel speed from the signals of the speed sensor corresponding to the wheel speed by counting the signal edges in a predetermined period of time and determines the speed of the vehicle therefrom. Due to the manufacturing tolerances of the increment encoders to each other, this type of evaluation of the wheel speeds results in noise components in the wheel speeds which lead to inaccuracies and falsify the actual wheel speed. These noise components are normally eliminated by filtering the signal.
  • the invention is therefore based on the object of specifying a method for the precise determination of the speed of a rotating component, in which, despite manufacturing tolerances of the incremental disc and out-of-roundness of the rotating component, a reliable determination of the dynamics of the rotating component is possible in order to reliably predict the driving corridor of the vehicle to enable.
  • the object is achieved in that a correction value is determined from the actual distribution of the discontinuities on the rotating component, with which the corrected speed is determined.
  • the advantage of the invention is that a correction is made immediately on the basis of the actual distance of the discontinuities that were used to determine the wheel speeds. This method smoothes the wheel speeds while maintaining the dynamics. Thus, while maintaining the dynamic of the circulating component receive an accurate speed signal with each measurement.
  • the correction value is determined at a constant speed of the rotating component.
  • the time between the occurrence of two discontinuities is advantageously determined, from which the distance between the discontinuities on the rotating component is determined.
  • the distance between two consecutive discontinuities can thus be measured precisely and an error can be determined from a comparison with a standard distance between two consecutive discontinuities, which results from the uniform, error-free distribution of the discontinuities on the rotating wheel.
  • the number of discontinuities is determined in a predetermined period of time, and the distance between the discontinuities of the rotating component is determined from the number of discontinuities.
  • the distances of all discontinuities occurring on the rotating component are recorded and from these distances the discontinuities are assigned along the circumference of the rotating component.
  • the distance of all discontinuities arranged on the rotating component is newly determined with every revolution of the rotating component, an average value being formed from the distances determined over the various revolutions for the same discontinuities. To this The system “learns" the errors in the arrangement of the discontinuities that occur over the scope of the marking.
  • the current value of the distance is saved after each distance formation.
  • the distance between two successive discontinuities determined during the previous rotation of the rotating component is deleted.
  • an increment encoder is assigned to at least two wheels of the motor vehicle and a speed sensor is arranged opposite each increment encoder, which detects the respective signal corresponding to the speed of the wheel, this sensor being connected to a correction device of a motor vehicle, which corrects the correction value the wheel speed determined.
  • the precise determination of the wheel speeds of the motor vehicle is particularly important for the prediction of the driving corridor and cornering of the vehicle.
  • the distance control device which is designed as a correction device, is connected to a sensor signal processing arrangement which reports the distance and relative speed of objects in the lane of the vehicle to the distance control device, an object detection sensor connected to the sensor signal processing arrangement detecting the objects occurring in the direction of travel of the vehicle .
  • the sensor is arranged on the front of the vehicle to be controlled in order to detect the vehicles in front.
  • the sensor works according to the retroreflective principle and is advantageously a radar sensor. In addition to radar sensors, laser, infrared or image processing sensors are also conceivable.
  • the senor, the signal processing arrangement and the distance control device are arranged in a structural unit on the front of the vehicle to be controlled. This enables a space-saving sensor unit, which takes up only slightly more space than the sensor with an integrated signal evaluation circuit.
  • Fig. 1 Arrangement of the distance control system on the motor vehicle
  • Fig. 2 basic structure of the distance control system
  • Fig. 3 Arrangement for determining the wheel speeds of the vehicle
  • an automatic speed and distance control system 3 is arranged on the bumper 2 of a motor vehicle 1 to maintain a target distance of vehicles.
  • the distance and the speed to the vehicle in front are automatically regulated. If the lane is clear again, the system accelerates the vehicle to the previously set desired speed.
  • the speed and distance control system 3 is switched on / off by an operating element, which is shown as an operating lever 9.
  • the desired speed of the vehicle is also set using the control lever 9. The travel speed desired by the driver is saved, increased or decreased.
  • the automatic speed and distance control system 3 is connected to the engine control 5, the brake 7 and the transmission 8 via a bus system 4.
  • Electronic commands regulate the distance and speed to the vehicle in front.
  • the current speed and also the distance to the vehicle in front is displayed via a display unit 6, which is likewise controlled by the speed and distance control system 3 via the bus system 4, preferably a CAN bus.
  • the automatic speed and distance control system forms a structural unit 3 between sensor 10, sensor signal processing arrangement 11 and distance control system 12.
  • the distance control system 12 has a device 12a for determining the lane of the vehicle and a longitudinal controller 12b which determines the actual distance to a control object, compares it with the entered target distance and, in the event of deviations, by interventions in the vehicle configurations 5, 7, 8 described above establishes the target distance to the control object.
  • the device 12a contains a device for determining the wheel speeds and the errors resulting therefrom.
  • the sensor 10 is a radar or laser sensor with a sensor area 24, which at regular intervals, for. B. every 60 ms, sends signals in the direction of travel of the vehicle which are reflected by the vehicles which are in the signal beam (24). From these returned signals, the signal processing circuit 11 becomes the distance, the relative speed and the acceleration of the vehicles in front certainly. These measurement results are passed on from the signal processing arrangement 11 to the distance control system 12.
  • the distance control system 12 consists of a powerful microcomputer, which in turn is made up of a central processing unit 13, a working memory 14, a read-only memory 15 and an input / output unit 16.
  • the input / output unit 16 receives the information about the distance, the relative speed and the acceleration of the preceding vehicles from the sensor signal processing arrangement 11. The tasks of lane determination and longitudinal control are taken over by this microcomputer.
  • Incremental disks 17 and 18 are arranged on the vehicle itself on the two front wheels, each of which is not shown.
  • Speed sensors 19, 20 are arranged opposite the incremental disks 17, 18.
  • the speed signals detected by the speed sensors 19, 20 are likewise fed to the microcomputer 12 via the input / output unit 16.
  • the microcomputer 12 uses this to calculate the vehicle speed, the yaw rate and the curve radius currently being driven.
  • the microcomputer 12 When approaching a slower vehicle, the microcomputer 12 automatically decelerates the vehicle speed and thus regulates the set target distance from the vehicle in front. For the automatic deceleration, actions on the engine control 5, on the brake 7 and / or a control of the transmission control 8 to reduce the driving speed are possible.
  • the motor control 5, the brake 7 or the transmission 8 are each controlled via an electrical output stage 23. If the lane is clear again, the distance controller 12 accelerates the vehicle to the set desired speed. The distance control is always active when the vehicle drives ahead.
  • the microcomputer 12 is connected to switches of the vehicle brake 21 or the vehicle clutch 22. If these are actuated by the driver via the clutch and / or brake pedal, they cause the control to be switched off in normal operation.
  • the series regulator 12b forms the comparison between a setpoint and actual value of a control concept stored in the software. If you are in the control range, the microcomputer outputs an output signal that is determined by the control concept.
  • the device for determining the lane 12a formed in the microprocessor 12 determines the yaw rate ⁇ of the motor vehicle from the speed signals detected by the speed sensors 19, 20.
  • the yaw rate is determined as follows:
  • the radius traveled by each front wheel is determined from the quotient of the wheel speed v R by the yaw rate ⁇ .
  • the determination of the correction value of the speed of the vehicle on the basis of the detection of the wheel speed will be explained below with reference to FIG. 4.
  • each Hall sensor 19 or 20 is a series of pulses, the leading edge or the trailing edge of the pulses being counted by the microprocessor 12.
  • a timer preferably the clock contained in the micro-processor 12, delivers a current time signal. It is assumed that the speed of the vehicle wheel is approximately constant.
  • the target distance S of the discontinuities N is determined by dividing the known extent of each incremental disc 17 or 18 by the number of discrepancies N of the respective incremental disc 17 or 18 (step 0). These values are stored in the read-only memory 15 of the microprocessor before the correction value is determined.
  • the speed of the vehicle and the correction value for the speed are determined independently and in parallel next to one another.
  • step 1 a start value S j is set.
  • step 2 the time is measured between the pulses of two consecutive discontinuities.
  • the timer status at the time of the occurrence of the pulse of the first discontinuity is subtracted from the timer status which is present at the time of the occurrence of the pulse of the second discontinuity.
  • the time difference measured in this way is stored in the working memory 14 of the microprocessor. Based on this time difference, the Distance S lk between the two discontinuities is determined on the basis of the known extent of the increment encoder (step 3).
  • step 4 it is determined whether the current speed change of the vehicle allows a reliable evaluation.
  • step 5 is proceeded to. If the change in speed v (t,) lies outside this range, the process returns to step 1 via step 8.
  • An average value S 1 is formed in step 5 for the distances S lk measured at different wheel revolutions k between successive identical discontinuities.
  • a constant or time-variable weighting of the measured distances S lk takes place adaptively depending on the situation. For example, in the case of an acceleration-dependent situation, the weighting can take place in a variable manner.
  • a correction field is stored in the memory 15 of the microprocessor 12, which represents the exact distribution of the discontinuities N over the circumference of the incremental disk. This correction field is adjusted after each measurement.
  • step 6 the distances S, of the discontinuities N determined in this way are compared with the "ideal" distances s of the discontinuities N.
  • step 7 If the deviation of the amount of the mean value S, minus the target distance s, is greater than a limit value S g , the incremental disk is defective and an additional error correction is carried out (step 7).
  • the speed can be corrected immediately by reading the corresponding correction value in the form of the corrected distance S from the correction field. With the path corrected in this way, the wheel speed is precisely determined.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé pour déterminer avec précision la vitesse d'un composant entraîné en rotation, en particulier la vitesse d'une roue d'un véhicule, consistant à détecter des différences se présentant à la périphérie du composant en rotation et à déterminer la vitesse à partir de l'apparition de discontinuités en fonction du temps. L'invention vise à fournir un procédé destiné à déterminer avec précision la vitesse d'un composant entraîné en rotation, dans lequel on effectue, en dépit des tolérances de fabrication du disque incrémental et des défauts de circularité du composant en rotation, une détermination fiable de la dynamique dudit composant. L'invention est, en conséquence, caractérisée en ce qu'on détermine, à partir de la répartition effective des discontinuités sur le composant en rotation, une valeur correctrice au moyen de laquelle on détermine une vitesse corrigée.
EP98947450A 1997-08-25 1998-08-25 Procede et dispositif pour determiner avec precision la vitesse d'un composant entraine en rotation, notamment la vitesse d'une roue d'un vehicule Ceased EP0954751A1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE19736969 1997-08-25
DE19736969 1997-08-25
DE19747918 1997-10-30
DE19747918A DE19747918A1 (de) 1997-08-25 1997-10-30 Verfahren und Anordnung zur genauen Bestimmung der Geschwindigkeit eines umlaufenden Bauteiles, insbesondere der Geschwindigkeit eines Fahrzeugrades
PCT/EP1998/005370 WO1999010747A1 (fr) 1997-08-25 1998-08-25 Procede et dispositif pour determiner avec precision la vitesse d'un composant entraine en rotation, notamment la vitesse d'une roue d'un vehicule

Publications (1)

Publication Number Publication Date
EP0954751A1 true EP0954751A1 (fr) 1999-11-10

Family

ID=26039452

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98947450A Ceased EP0954751A1 (fr) 1997-08-25 1998-08-25 Procede et dispositif pour determiner avec precision la vitesse d'un composant entraine en rotation, notamment la vitesse d'une roue d'un vehicule

Country Status (2)

Country Link
EP (1) EP0954751A1 (fr)
WO (1) WO1999010747A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1108603B1 (fr) * 1999-12-14 2008-10-08 Continental Automotive GmbH Procédé pour la prédiction et délimitation d'un trajet pour un véhicule
US6535285B1 (en) 2000-02-08 2003-03-18 Therma-Wave, Inc. Combination thermal wave and optical spectroscopy measurement system
FR2918756B1 (fr) * 2007-07-12 2009-10-02 Renault Sas Procede et dispositif de determination du sens de rotation d'une roue.

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3018528C2 (de) * 1980-05-14 1986-06-05 MTC, Meßtechnik und Optoelektronik AG, Neuenburg/Neuchâtel Verfahren und Vorrichtung zur Messung der Winkelgeschwindigkeit eines rotierenden Körpers
US5465079A (en) * 1992-08-14 1995-11-07 Vorad Safety Systems, Inc. Method and apparatus for determining driver fitness in real time
DE19540674C2 (de) * 1995-10-31 1999-01-28 Siemens Ag Adaptionsverfahren zur Korrektur von Toleranzen eines Geberrades

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9910747A1 *

Also Published As

Publication number Publication date
WO1999010747A1 (fr) 1999-03-04

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