FR3024572A1 - Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee - Google Patents
Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee Download PDFInfo
- Publication number
- FR3024572A1 FR3024572A1 FR1457411A FR1457411A FR3024572A1 FR 3024572 A1 FR3024572 A1 FR 3024572A1 FR 1457411 A FR1457411 A FR 1457411A FR 1457411 A FR1457411 A FR 1457411A FR 3024572 A1 FR3024572 A1 FR 3024572A1
- Authority
- FR
- France
- Prior art keywords
- suspension
- state
- vehicle
- controlling
- data
- 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.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/04—Suspension or damping
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- 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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
-
- 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
- B60G17/018—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 use of a specific signal treatment or control method
- B60G17/0182—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 use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
-
- 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
- B60G17/018—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 use of a specific signal treatment or control method
- B60G17/0185—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 use of a specific signal treatment or control method for failure detection
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
- B60G13/006—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit on the stub axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/062—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper
- B60G15/063—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper characterised by the mounting of the spring on the damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
- B60G2202/312—The spring being a wound spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/32—The spring being in series with the damper and/or actuator
- B60G2202/322—The spring being in series with the damper and/or actuator the damper being controllable
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- 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
- B60G2400/824—Travel path sensing; Track monitoring
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- 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
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
-
- 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
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
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- 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
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- 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
- B60G2600/08—Failure or malfunction detecting means
-
- 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
- B60G2600/08—Failure or malfunction detecting means
- B60G2600/084—Supervisory systems
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- 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
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
-
- 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
- B60G2800/80—Detection or control after a system or component failure
- B60G2800/802—Diagnostics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
- B60R2011/0026—Windows, e.g. windscreen
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Vehicle Body Suspensions (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (10)
- REVENDICATIONS1. Procédé de contrôle de l'état de dégradation d'une suspension (10) équipant un véhicule automobile (1) comportant les étapes suivantes : - acquisition périodique (étape 210) d'images successives d'un champ de vision amont (Va) fournies par au moins une caméra (6, 7) d'un système visuel (60) embarqué sur le véhicule (1) et mémorisées sous forme de points d'images (étape 210) ; mémorisation des données de position (étape 220) d'une route tridimensionnelle (110) par rapport à route de référence (100) considérée comme plane, à partir des points d'images mémorisées à l'étape précédente (étape 220) ; mémorisation des données de paramètres de position fondamentaux (étape 230) en rotation et en translation d'une trajectoire (Ts) du véhicule (1) à partir des données de position mémorisées par rapport à route de référence (100) (étape 230) ; minimisation d'une erreur (3.1'2) (étape 250) entre des valeurs de paramètres de suspension intrinsèques prédéterminés (K, C) d'un modèle de suspension dans un état idéal et des valeurs des paramètres de suspension intrinsèques dudit modèle correspondant aux données de paramètres de position fondamentaux de la trajectoire (Ts) mémorisées aux étapes précédentes (220, 230) (étape 250) ; itération de l'étape précédente (étape 260) jusqu'à ce qu'une précision E de ladite erreur (3.1'2) atteigne une valeur prédéfinie ER pour diagnostiquer un état de la suspension (270) en fonction de l'erreur (3.1'2) établie à l'étape précédente (étape 260) ; et - déclenchement d'une alarme en cas de diagnostic (étape 270) d'un état de suspension précritique. 25
- 2. Procédé de contrôle de l'état d'une suspension selon la revendication 1, caractérisé en ce que le système visuel embarqué est un système stéréoscopique (60) comportant deux caméras (6, 7) fournissant des couples d'images afin de construire des données tridimensionnelles à partir des disparités entre chaque couple d'images.
- 3. Procédé de contrôle de l'état d'une suspension selon la revendication 30 précédente, caractérisé en ce qu'un bruit des disparités est numériquement filtré.
- 4. Procédé de contrôle de l'état d'une suspension selon l'une quelconque des revendications précédentes, caractérisé en ce que la route de référence (100) considérée - - - -20comme plane est déterminée en moyennant des écarts-types de données de position de la route réelle tridimensionnelle (110) avec un nombre prédéterminé de points d'image.
- 5. Procédé de contrôle de l'état d'une suspension selon l'une quelconque des revendications précédentes, caractérisé en ce que la trajectoire (Ts) du véhicule (1) est identifiée (235) par des valeurs successives de paramètres spécifiques en élévation (h, z) de la route réelle tridimensionnelle (110) et du véhicule (1), et en rotation de roulis et/ou de tangage (0) du véhicule (1), ces valeurs de paramètres spécifiques de position (h, z, 0) étant déterminées à partir des données de position mémorisées (220, 230) de la route réelle tridimensionnelle (110) et des paramètres de position fondamentaux.
- 6. Procédé de contrôle de l'état d'une suspension selon l'une quelconque des revendications précédentes, caractérisé en ce que le modèle de suspension est choisi dans une bibliothèque (240), pour chaque roue (5a, 5b) du véhicule (1), entre une suspension modélisée à simple étage à ressort équivalent (3'a, 3'b) ou à ressort / amortisseur équivalents (3'a, 41, 42; 3'b, 41, 42) montés en parallèle, et une suspension à double étage à ressort équivalent (3'a, 3'b), ou à ressort / amortisseur équivalents (3'a, 41, 42; 3'b, 41, 42) montés en parallèle pour un étage de suspensions propres (11A, 11B), et à ressort équivalent (5'a, 5'b) ou à ressort / amortisseur équivalents pour un étage de pneumatiques (5a, 5b).
- 7. Procédé de contrôle de l'état d'une suspension selon la revendication 20 précédente, caractérisé en ce que les paramètres de suspension intrinsèques se rapportent à la raideur (K) du ou des ressorts équivalents (3', 5') et au taux de compression (C) du ou des amortisseurs équivalents (41, 42) par roue (2a, 2b).
- 8. Procédé de contrôle de l'état d'une suspension selon l'une quelconque des revendications précédentes, caractérisé en ce que la suspension (10) est pilotée par une 25 commande (6A, 6B) choisie entre une commande active, semi-active et passive.
- 9. Procédé de contrôle de l'état d'une suspension selon l'une quelconque des revendications précédentes, caractérisé en ce que l'erreur (3,P2) a une précision C permettant de détecter un état de gonflage des pneumatiques (5a, 5b).
- 10. Procédé de contrôle de l'état d'une suspension selon la revendication 30 précédente, caractérisé en ce que l'erreur (3,P2) a une précision C permettant de déduire qui, entre la suspension propre (11A, 11B) et des pneumatiques (5a, 5b), est dans un état précritique.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1457411A FR3024572B1 (fr) | 2014-07-31 | 2014-07-31 | Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee |
US15/500,317 US10127650B2 (en) | 2014-07-31 | 2015-07-23 | Method for controlling the suspension of a vehicle by processing images from at least one on-board camera |
CN201580041753.XA CN106574880B (zh) | 2014-07-31 | 2015-07-23 | 用于通过处理车载摄像机的图像来检查车辆悬架的方法 |
PCT/EP2015/001514 WO2016015846A1 (fr) | 2014-07-31 | 2015-07-23 | Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1457411A FR3024572B1 (fr) | 2014-07-31 | 2014-07-31 | Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3024572A1 true FR3024572A1 (fr) | 2016-02-05 |
FR3024572B1 FR3024572B1 (fr) | 2016-09-02 |
Family
ID=52102763
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1457411A Active FR3024572B1 (fr) | 2014-07-31 | 2014-07-31 | Procede de controle de la suspension d'un vehicule par un traitement d'images d'au moins une camera embarquee |
Country Status (4)
Country | Link |
---|---|
US (1) | US10127650B2 (fr) |
CN (1) | CN106574880B (fr) |
FR (1) | FR3024572B1 (fr) |
WO (1) | WO2016015846A1 (fr) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102016216008A1 (de) | 2016-08-25 | 2018-03-01 | Volkswagen Aktiengesellschaft | Verfahren zur Ansteuerung der Schwingungsdämpfer einer Radaufhängung |
US10569613B2 (en) * | 2016-10-03 | 2020-02-25 | Tenneco Automotive Operating Company Inc. | Method of alerting driver to condition of suspension system |
US20190025160A1 (en) * | 2017-07-21 | 2019-01-24 | GM Global Technology Operations LLC | Determination of damper health state using indirect measurements |
US20190102959A1 (en) * | 2017-09-29 | 2019-04-04 | GM Global Technology Operations LLC | Systems and methods to detect abnormalities in a vehicle suspension system |
JP2019078648A (ja) * | 2017-10-25 | 2019-05-23 | パナソニックIpマネジメント株式会社 | 路面検出装置、路面検出方法、路面検出プログラムおよび路面検出プログラムを記録した記録媒体 |
FR3073778A1 (fr) * | 2017-11-21 | 2019-05-24 | Psa Automobiles Sa | Suspension active avec fonction d’anticipation d’obstacle sur la route |
EP3623180B1 (fr) * | 2018-09-11 | 2021-05-05 | Connaught Electronics Ltd. | Procédé et système permettant de déterminer un état d'une remorque tractée par un véhicule |
CN110435377B (zh) * | 2019-04-28 | 2022-06-07 | 西安理工大学 | 基于比例积分观测器的非线性主动悬架容错追踪控制方法 |
KR20210006558A (ko) * | 2019-07-08 | 2021-01-19 | 현대자동차주식회사 | Ecs의 노면정보 보정방법 및 시스템 |
US11305602B2 (en) * | 2019-11-04 | 2022-04-19 | GM Global Technology Operations LLC | Vehicle detection and isolation system for detecting spring and stabilizing bar associated degradation and failures |
CN111873744B (zh) * | 2020-07-15 | 2023-03-28 | 吉林大学 | 基于相机传感器路面信息识别的主动悬架预瞄控制方法 |
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US10127650B2 (en) | 2018-11-13 |
CN106574880A (zh) | 2017-04-19 |
FR3024572B1 (fr) | 2016-09-02 |
US20170213336A1 (en) | 2017-07-27 |
CN106574880B (zh) | 2019-05-14 |
WO2016015846A1 (fr) | 2016-02-04 |
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