FI120061B - Förfarande för insamling av information om halheten om vägs yta - Google Patents
Förfarande för insamling av information om halheten om vägs yta Download PDFInfo
- Publication number
- FI120061B FI120061B FI20060351A FI20060351A FI120061B FI 120061 B FI120061 B FI 120061B FI 20060351 A FI20060351 A FI 20060351A FI 20060351 A FI20060351 A FI 20060351A FI 120061 B FI120061 B FI 120061B
- Authority
- FI
- Finland
- Prior art keywords
- vehicle
- data
- determined
- road
- slip
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 50
- 230000008859 change Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000004134 energy conservation Methods 0.000 claims description 4
- 239000011324 bead Substances 0.000 claims 1
- 230000001419 dependent effect Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000003556 assay Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000012417 linear regression Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- XULSCZPZVQIMFM-IPZQJPLYSA-N odevixibat Chemical compound C12=CC(SC)=C(OCC(=O)N[C@@H](C(=O)N[C@@H](CC)C(O)=O)C=3C=CC(O)=CC=3)C=C2S(=O)(=O)NC(CCCC)(CCCC)CN1C1=CC=CC=C1 XULSCZPZVQIMFM-IPZQJPLYSA-N 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009938 salting Methods 0.000 description 1
- 238000004441 surface measurement Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
- G01N19/02—Measuring coefficient of friction between materials
-
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- 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
-
- 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
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
-
- 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
- B60T2250/02—Vehicle mass
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
-
- 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
- B60W2520/26—Wheel slip
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Claims (8)
1. Förfarande för insamling av information om halheten en vägs (1) yta, i vilket förfarande frän en 5 tung trafiks fordons, som rör sig pä vägen, databuss (3) insamlas fordonets (2) funktionsdata, med hjälp av funktionsdata bestäms fordonets dragande hjuls (8) glidförhällande s och en via det dragande hjulet pä vägen verkande drivkraft F för förflyttande av fordo-10 net, och halheten av vägens yta bestäms med hjälp av glidförhällandet s, drivkraften F samt fordonets massa m, kännetecknat därav, att i förfarandet - bestäms pä förhand det dragande hjulets (8) glidf örhällande pä en fästande yta So som en funktion 15 av en via det dragande hjulet pä vägen (1) riktad, av fordonets massa m beroende normalkraft N samt drivkraften F, - under körskedet bestäms det dragande hjulets (8) glidförhällande si, normalkraft Ni och driv- 20 kraft Fi, dar för bestämmande av normalkraften Nj insamlas fordonets (2), som rör sig pä vägen (1), posi-tionsdata och fordonets massa m bestäms med hjälp av fordonets positionsdata och funktionsdata under körskedet, 25. det normaliserade glidförhällandet s' be stäms genom att jämföra det dragande hjulets (8) glid-förhällande Si under körskedet med det pä förhand be-stämda glidförhällandet pä den fästande ytan So med samma drivkraft Fi och samma normalkraft Nlr och 30 - halheten av vägens (1) yta bestäms pä basen av det normaliserade glidförhällandet s'.
2. Förfarande enligt patentkrav 1, kännetecknat därav, att - pä förhand bestäms arbetets Wr, som behövs 35 för att röra pä fordonet (2), beroende av fordonets förskjutning d, Ah och massa m, 19 - pä basen av positionsdata och funktionsdata under en tidsperiod av körskedet bestäms vägen di som fordonet (2) rört sig, fordonets (2) positions höjd-förändring Ah, fordonets hastighets v förändring samt 5 arbetet W som utförts för att röra pä fordonet, och - fordonets (2) massa m beräknas ur arbetets Wrr som behövs för att röra pä fordonet, beroende av förskjutningen och massan, vägen d som fordonet rört sig under mätperioden, höjdförändringen Ah, föränd- 10 ringen av hastigheten v och arbetet N som utförts för att röra pä fordonet samt enligt principen för ener-gins bevarande.
3. Förfarande enligt patentkrav 1 eller2, kännetecknat därav, att fordonets posi- 15 tionsdata insamlas med hjälp av en GPS-satellitpositionsbestämningsanordning (7).
4. Förfarande enligt nägot av patentkraven 1 - 3, kännetecknat därav, att det normalise-rade glidförhällandet s' bestäms genom att frän glid- 20 förhällande si under körskedet subtrahera glidförhäl- lande pä den fästande ytan so·
5. Förfarande enligt nägot av patentkraven 1 - 4, kännetecknat därav, att för att för-säkra sig om noggrannheten av halhetens bestämning be- 25 stäms halheten endast dä motorns vridmoment är ovanom ett pä förhand bestämt tröskelvärde.
6. Förfarande enligt patentkrav 5, kän netecknat därav, att tröskelvärdet är minst 50 %, fördelaktigt minst 70 % av maximivärdet av motorns 30 vridmoment.
7. Förfarande enligt nägot av patentkraven 1 - 6, kännetecknat därav, att under körskedet insamlas positionsdata för fordonet (2) och positionsdata samt data om halheten överförs för sparande 35 och vidarebehandling tili ett centralsystem (6).
8. Förfarande enligt patentkrav 7, kän netecknat därav, att positionsdata samt data 20 om halheten överförs under körskedet till centralsy-stemet (6) genom förmedling av ett trädlöst dataöver-föringsmedel (5).
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20060351A FI120061B (sv) | 2006-04-11 | 2006-04-11 | Förfarande för insamling av information om halheten om vägs yta |
| EP07730562.1A EP2005140B1 (en) | 2006-04-11 | 2007-04-11 | Method for collecting information on road surface slipperiness |
| PCT/FI2007/000093 WO2007116123A1 (en) | 2006-04-11 | 2007-04-11 | Method for collecting information on road surface slipperiness |
| NO20084582A NO342448B1 (no) | 2006-04-11 | 2008-11-03 | Fremgangsmåte til innsamling av informasjon om veioverflatens glatthet |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20060351 | 2006-04-11 | ||
| FI20060351A FI120061B (sv) | 2006-04-11 | 2006-04-11 | Förfarande för insamling av information om halheten om vägs yta |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| FI20060351A0 FI20060351A0 (sv) | 2006-04-11 |
| FI20060351A FI20060351A (sv) | 2007-10-12 |
| FI120061B true FI120061B (sv) | 2009-06-15 |
Family
ID=36293748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FI20060351A FI120061B (sv) | 2006-04-11 | 2006-04-11 | Förfarande för insamling av information om halheten om vägs yta |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2005140B1 (sv) |
| FI (1) | FI120061B (sv) |
| NO (1) | NO342448B1 (sv) |
| WO (1) | WO2007116123A1 (sv) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10308265B2 (en) | 2006-03-20 | 2019-06-04 | Ge Global Sourcing Llc | Vehicle control system and method |
| US10569792B2 (en) | 2006-03-20 | 2020-02-25 | General Electric Company | Vehicle control system and method |
| US9733625B2 (en) | 2006-03-20 | 2017-08-15 | General Electric Company | Trip optimization system and method for a train |
| US9950722B2 (en) | 2003-01-06 | 2018-04-24 | General Electric Company | System and method for vehicle control |
| US9828010B2 (en) | 2006-03-20 | 2017-11-28 | General Electric Company | System, method and computer software code for determining a mission plan for a powered system using signal aspect information |
| US8401720B2 (en) * | 2006-03-20 | 2013-03-19 | General Electric Company | System, method, and computer software code for detecting a physical defect along a mission route |
| US9834237B2 (en) | 2012-11-21 | 2017-12-05 | General Electric Company | Route examining system and method |
| DE102012201841B4 (de) | 2012-02-08 | 2013-09-26 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Vorbereitung eines definierten, vom Fahrer anwählbaren Anfahrvorganges |
| US9669851B2 (en) | 2012-11-21 | 2017-06-06 | General Electric Company | Route examination system and method |
| JP5811109B2 (ja) * | 2013-01-28 | 2015-11-11 | トヨタ自動車株式会社 | 運転支援システム及び運転支援方法 |
| IT201700016359A1 (it) * | 2017-02-14 | 2018-08-14 | Soluzioni Ingegneria S R L | Ausilio alla guida di tipo collaborativo |
| DE102017011114A1 (de) * | 2017-11-30 | 2019-06-06 | Wabco Gmbh | Verfahren und Fahrdynamik-System zur Regelung eines Anfahrvorganges eines Fahrzeugs |
| CN110261297B (zh) * | 2019-07-12 | 2020-03-31 | 成都中科大旗软件股份有限公司 | 一种用于景区的安全防护装置 |
| JP7434909B2 (ja) * | 2020-01-10 | 2024-02-21 | 住友ゴム工業株式会社 | 路面の状態の判定装置、判定方法及び判定プログラム |
| JP2022184143A (ja) * | 2021-05-31 | 2022-12-13 | 住友ゴム工業株式会社 | 路面の状態の判定方法 |
| CN113460056B (zh) * | 2021-08-03 | 2022-08-09 | 吉林大学 | 一种基于卡尔曼滤波和最小二乘法的车辆路面附着系数估计方法 |
| IL297359B2 (en) * | 2022-10-18 | 2023-11-01 | Maytronics Ltd | Detecting the slipperiness of a pool surface |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4010507C1 (sv) * | 1990-04-02 | 1991-10-17 | Volkswagen Ag, 3180 Wolfsburg, De | |
| DE4134831C2 (de) * | 1991-10-22 | 1995-05-18 | Mannesmann Ag | Anordnung zur Ermittlung einer Reibbeiwert-Information |
| JP3433014B2 (ja) * | 1996-07-19 | 2003-08-04 | 日信工業株式会社 | 車両用アンチロックブレーキ制御装置 |
| JP4496598B2 (ja) * | 2000-04-06 | 2010-07-07 | 株式会社デンソー | 路面状態識別装置 |
| EP1150266B1 (en) * | 2000-04-21 | 2005-11-09 | Sumitomo Rubber Industries Ltd. | System for collecting and distributing road surface information |
| JP4153688B2 (ja) * | 2001-10-16 | 2008-09-24 | 住友ゴム工業株式会社 | 路面状態判定方法および装置、ならびに路面状態の判定のしきい値設定プログラム |
| SE524087C2 (sv) * | 2002-10-31 | 2004-06-22 | Nira Dynamics Ab Mjaerdevi Sci | Metod för bestämning av friktionen mellan en yta och ett däck för vägfordon som drivs med alla hjul samt en transmissionskoppling för fördelning av ett vridmoment mellan hjulaxlar innefattande nämnda metod |
| US20050038589A1 (en) * | 2003-08-14 | 2005-02-17 | Deepak Shukla | Method for estimating a friction coefficient |
-
2006
- 2006-04-11 FI FI20060351A patent/FI120061B/sv active IP Right Grant
-
2007
- 2007-04-11 WO PCT/FI2007/000093 patent/WO2007116123A1/en active Application Filing
- 2007-04-11 EP EP07730562.1A patent/EP2005140B1/en active Active
-
2008
- 2008-11-03 NO NO20084582A patent/NO342448B1/no unknown
Also Published As
| Publication number | Publication date |
|---|---|
| FI20060351A0 (sv) | 2006-04-11 |
| NO342448B1 (no) | 2018-05-22 |
| EP2005140A4 (en) | 2015-06-03 |
| FI20060351A (sv) | 2007-10-12 |
| NO20084582L (no) | 2008-11-03 |
| EP2005140A1 (en) | 2008-12-24 |
| EP2005140B1 (en) | 2018-09-19 |
| WO2007116123A1 (en) | 2007-10-18 |
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