EP2099665A1 - Verfahren zum ermitteln eines fahrbahnzustands - Google Patents
Verfahren zum ermitteln eines fahrbahnzustandsInfo
- Publication number
- EP2099665A1 EP2099665A1 EP07822125A EP07822125A EP2099665A1 EP 2099665 A1 EP2099665 A1 EP 2099665A1 EP 07822125 A EP07822125 A EP 07822125A EP 07822125 A EP07822125 A EP 07822125A EP 2099665 A1 EP2099665 A1 EP 2099665A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- roadway
- wheel
- state
- road
- determining
- 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
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
-
- 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
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
Definitions
- the invention relates to a method and a device for determining a road condition.
- ABS anti-lock braking systems
- ASR anti-slip control systems
- DE 10 2004 016 288 B3 discloses a method for determining a coefficient of friction, in which vibrations of a tire are detected and a characteristic of the tire vibration, in particular a frequency spectrum and / or a time range spectrum, is evaluated. The following steps are carried out: Data are evaluated by means of physical and / or phenomenological model approaches, evaluation signals in at least two frequency bands are observed, amplitudes of the evaluation signals are compared with friction value-dependent empirical values which depend on a current power transmission state of the tire, a coefficient of friction is determined, and the coefficient of friction determines a maximum available force which can be transmitted from the tire to the roadway.
- the object of the invention is to provide a method and a device for determining a road condition that can be realized simply and inexpensively.
- the invention is characterized by a method for determining a roadway condition of a road on which a vehicle moves, which has at least one wheel and an acceleration sensor, which is assigned to the wheel for determining a vertical component of an acceleration of the wheel, in which, depending on a measurement signal of the acceleration sensor, a characteristic value is determined that is representative of the road condition.
- a sensor of a simple design such as an acceleration sensor for determining a vertical component of the wheel acceleration, in order to enable it to be used for the acceleration of the vehicle. use of the road condition.
- a sensor can be available very inexpensively.
- the characteristic value for the road condition is determined as a function of a frequency spectrum of the measurement signal of the acceleration sensor. This makes it possible to use a simple method of evaluating the signal of the acceleration sensor.
- the frequency spectrum is determined by a Fourier transformation.
- the Fourier transform represents a particularly simple frequency analysis method.
- At least two road conditions can be distinguished by means of the characteristic value. This allows a rough classification of at least two road conditions.
- a first road condition of the two distinct road conditions is the roadway condition of an asphalt roadway and a second roadway condition of the two distinct roadway conditions is the roadway condition of a snow / ice roadway.
- the invention is characterized by a device for determining a roadway condition of a road on which a vehicle moves, which has at least one wheel and an acceleration sensor, which is assigned to the wheel for determining a vertical component of an acceleration of the wheel, which is configured to determine a characteristic value representative of the road condition as a function of a measurement signal of the acceleration sensor.
- FIG. 1 shows a detail of a vehicle with a wheel and a part of a roadway
- FIG. 2 is a flow chart of a program executed in a control device.
- FIG. 4 shows a profile of a frequency spectrum as a function of the frequency for a snow / ice track.
- FIG. 1 shows a detail of a vehicle 10 which has a body 8 and at least one wheel 14.
- the wheel 14 is connected via a wheel axle 16, a spring element 18 and a tubular axle. element 19 coupled to the body 8.
- the spring element 18 and the tubular element 19 together preferably form a shock absorber of the vehicle 10.
- the evaluation unit 20 is preferably part of a control device of the vehicle.
- the wheel 14 is located on a roadway 12.
- the vehicle 10 and thus also the wheel 14 move on the roadway 12 preferably in a direction of travel 26.
- the movement of the vehicle 10 in the direction of travel 26 rotates the wheel in a rotational direction 27 counterclockwise.
- the roadway 12 has a road surface structure 28
- the rotational movement of the wheel 14 is superimposed on a translational movement of the wheel 14 perpendicular to the direction of travel 26 of the vehicle 10.
- Such a translational movement of the wheel 14 perpendicular to the direction of travel 26 of the vehicle 10 means a vertical movement of the wheel 14 relative to the vehicle 10 in a vertical movement direction 30.
- the acceleration sensor 24 can thus determine a vertical component of an acceleration of the wheel 14.
- a measurement signal AC VERT of the vertical component of the acceleration of the wheel 14 recorded by the acceleration sensor 24 can be detected.
- a program can be stored in a program memory assigned to the control device of the vehicle 10 and executed during operation of the vehicle 10. be processed.
- the road condition can be determined and, where appropriate, further measures for controlling the vehicle can be initiated.
- detection of four measurement signals AC_VERT1, AC_VERT2, AC_VERT3, AC_VERT4 of the acceleration sensors 24 for four wheels 14 of the vehicle 10 is performed.
- the method can also be carried out for any other number of measurement signals AC VERT, so also only for one of the wheels 14 or for two, three or more than four wheels 14 of the vehicle 10th
- step S10, S20, S30, S40 the four measurement signals AC_VERT1, AC_VERT2, AC_VERT3, AC_VERT4 of the respective acceleration sensor 24 associated with the wheel 14 are detected.
- a time-dependent curve AC_VERT1 (T), AC_VERT2 (T), AC_VERT3 (T), AC VERT4 (T) of the acceleration sensors 24 is recorded and stored.
- a step S14, S24, S34, S44 the course of the measurement signals AC_VERT1 (T), AC_VERT2 (T), AC_VERT3 (T), AC_VERT4 (T), dependent on the time T, of the acceleration sensors 24 is subjected to a frequency analysis and in each case a frequency spectrum Eq (FRQ), G2 (FRQ), G3 (FRQ), G4 (FRQ).
- the determination of the frequency spectra G1 (FRQ), G2 (FRQ), G3 (FRQ), G4 (FRQ) by frequency analysis is done preferably in each case by a Fourier transformation.
- G3 FRQ
- G4 FRQ
- STATE a statement about a vehicle track state STATE.
- the acceleration sensors 24 of all wheels 14 are preferably used, but at least the acceleration sensor 24 of one of the wheels 14.
- FIGS. 3 and 4 show, by way of example, the frequency spectra G1, G2, G3, G4 as a function of the frequency FRQ for a first road state STATE1 of the two distinguishable road conditions, the roadway condition of an asphalt roadway (FIG. 3), and for a second roadway state STATE2 of the two distinguishable ones Road conditions, the road condition of a snow / ice track ( Figure 4).
- the frequencies FRQ below 20 hertz are disregarded, as these relate to wheel vibrations that are independent of the road condition STATE.
- FIG. 3 shows the frequency spectra G1, G2, G3, G4 for four wheels for the road condition STATE1, that is to say for the roadway condition of an asphalt carriageway.
- STATEl an asphalt pavement occurs a local maximum of the frequency spectra Gl, G2, G3, G4 of the four wheels 14 in a frequency range between 30 and 40 hertz.
- the profiles for the four wheels 14 shown here differ in detail, the occurrence of the local maxima of the frequency spectra in a frequency range between 30 and 40 hertz is clearly recognizable.
- FIG. 4 shows the frequency spectra G1, G2, G3, G4 for four wheels 14 for the road condition STATE2 of a snow / ice lane.
- the local maximum of the frequency spectrums G1, G2, G3, G4 between 30 and 40 Hertz is only weakly pronounced for all four wheels 14, while a clear local Maximum in the range of 90 hertz occurs.
- the maxima of the frequency spectrums Gl, G2, G3, G4 are different pronounced, but clearly visible for the four wheels 14.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006057342A DE102006057342A1 (de) | 2006-12-05 | 2006-12-05 | Verfahren zum Ermitteln eines Fahrbahnzustands |
PCT/EP2007/061778 WO2008068119A1 (de) | 2006-12-05 | 2007-10-31 | Verfahren zum ermitteln eines fahrbahnzustands |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2099665A1 true EP2099665A1 (de) | 2009-09-16 |
Family
ID=38938283
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07822125A Ceased EP2099665A1 (de) | 2006-12-05 | 2007-10-31 | Verfahren zum ermitteln eines fahrbahnzustands |
Country Status (4)
Country | Link |
---|---|
US (1) | US8437907B2 (de) |
EP (1) | EP2099665A1 (de) |
DE (1) | DE102006057342A1 (de) |
WO (1) | WO2008068119A1 (de) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014213326A1 (de) | 2014-07-09 | 2016-01-14 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Verarbeitung von Daten eines Fahrstreckenprofils, Decodierverfahren, Codier- und Decodierverfahren, System, Computerprogramm und Computerprogrammprodukt |
DE102014016121A1 (de) * | 2014-10-30 | 2016-05-04 | Daimler Ag | Verfahren zur Bestimmung eines Höhenprofils einer Fahrbahn und Verfahren zur Bestimmung einer Fahrzeugposition |
JP6394300B2 (ja) * | 2014-11-10 | 2018-09-26 | 株式会社デンソー | レーンキープ制御システム |
FR3039690B1 (fr) * | 2015-07-28 | 2018-12-07 | Psa Automobiles Sa. | Dispositif pour estimer un indicateur d’etat d’une voie de circulation empruntee par un vehicule terrestre |
ITUB20159358A1 (it) * | 2015-12-22 | 2017-06-22 | Faiveley Transport Italia Spa | Procedimento per il controllo e il recupero dell'aderenza delle ruote di un assile controllato di un veicolo ferroviario. |
DE102018207950A1 (de) * | 2018-05-22 | 2019-11-28 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Verarbeitung von Daten im Zusammenhang mit einem Fahrzeug, Decodierverfahren, Codier- und Decodierverfahren, System, Computerprogramm und Computerprogrammprodukt |
US10354205B1 (en) | 2018-11-29 | 2019-07-16 | Capital One Services, Llc | Machine learning system and apparatus for sampling labelled data |
DE102019209797A1 (de) * | 2019-07-03 | 2021-01-07 | Thyssenkrupp Ag | Verfahren und Einrichtung zur Ermittlung des fahrbetriebsbedingten Zustandes von Karosseriekomponenten eines Fahrzeugs sowie eines entsprechenden Fahrerverhaltens |
KR20210067011A (ko) | 2019-11-28 | 2021-06-08 | 주식회사 일진글로벌 | 노면 상태 진단 시스템 및 이를 구비하는 휠베어링 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0617505Y2 (ja) * | 1988-03-09 | 1994-05-11 | 株式会社田宮模型 | 玩具車用操舵装置 |
US5065618A (en) | 1990-11-14 | 1991-11-19 | Hodges Transportation Inc. | Method and apparatus for determining terrain surface profiles |
KR970011089B1 (ko) * | 1992-02-14 | 1997-07-07 | 미쯔비시 지도샤 고교 가부시끼가이샤 | 노면상태의 식별방법 및 써스펜션의 제어 장치 |
JP3159596B2 (ja) * | 1994-03-22 | 2001-04-23 | 本田技研工業株式会社 | ハイドロプレーニング現象検出装置 |
JPH0920223A (ja) * | 1995-07-07 | 1997-01-21 | Nippondenso Co Ltd | 路面状態識別装置 |
US5900542A (en) * | 1996-04-15 | 1999-05-04 | Ford Global Technologies, Inc. | Method and apparatus for modelling a tire for use with a vehicle spindle-coupled simulator |
JPH1194661A (ja) | 1997-09-18 | 1999-04-09 | Nissan Motor Co Ltd | 路面摩擦係数推定装置 |
US6112586A (en) * | 1998-08-31 | 2000-09-05 | Ford Global Technologies, Inc. | Effective road profile simulation method and system with tires loss-of-contact compensation |
ATE279329T1 (de) * | 2000-03-16 | 2004-10-15 | Pirelli | System, reifen und methode zur bestimmung des verhaltens eines bewegten reifens |
DE10133117A1 (de) * | 2001-07-07 | 2003-01-23 | Daimler Chrysler Ag | Verfahren zur Fahrbahnklassifizierung |
US7203579B2 (en) * | 2001-12-21 | 2007-04-10 | Kabushiki Kaisha Bridgestone | Method and apparatus for estimating road surface state and tire running state, ABS and vehicle control using the same |
US7563748B2 (en) | 2003-06-23 | 2009-07-21 | Cognis Ip Management Gmbh | Alcohol alkoxylate carriers for pesticide active ingredients |
US20050038589A1 (en) * | 2003-08-14 | 2005-02-17 | Deepak Shukla | Method for estimating a friction coefficient |
ES2303043T3 (es) * | 2004-01-09 | 2008-08-01 | Nira Dynamics Ab | Estimacion de las condiciones de la carretera bajo un vehiculo. |
DE102004016288B3 (de) * | 2004-04-02 | 2005-08-18 | Daimlerchrysler Ag | Verfahren zur Bestimmung eines Reibwerts |
US8032281B2 (en) * | 2007-03-29 | 2011-10-04 | Ford Global Technologies | Vehicle control system with advanced tire monitoring |
US7873449B2 (en) * | 2007-03-29 | 2011-01-18 | Ford Global Technologies | Vehicle safety system with advanced tire monitoring |
-
2006
- 2006-12-05 DE DE102006057342A patent/DE102006057342A1/de not_active Ceased
-
2007
- 2007-10-31 US US12/517,688 patent/US8437907B2/en active Active
- 2007-10-31 WO PCT/EP2007/061778 patent/WO2008068119A1/de active Application Filing
- 2007-10-31 EP EP07822125A patent/EP2099665A1/de not_active Ceased
Non-Patent Citations (1)
Title |
---|
See references of WO2008068119A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102006057342A1 (de) | 2008-06-12 |
WO2008068119A1 (de) | 2008-06-12 |
US8437907B2 (en) | 2013-05-07 |
US20100145567A1 (en) | 2010-06-10 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20090706 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR |
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: GAMULESCU, CELINE Inventor name: SCHWEIGER, THOMAS Inventor name: BIAN, NING Inventor name: MAYER, ANDREAS |
|
17Q | First examination report despatched |
Effective date: 20091023 |
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DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED |
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18R | Application refused |
Effective date: 20100626 |