FR3077792B1 - Procede et dispositif autonomes de determination d’une assiette d’un vehicule automobile. - Google Patents

Procede et dispositif autonomes de determination d’une assiette d’un vehicule automobile. Download PDF

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Publication number
FR3077792B1
FR3077792B1 FR1851247A FR1851247A FR3077792B1 FR 3077792 B1 FR3077792 B1 FR 3077792B1 FR 1851247 A FR1851247 A FR 1851247A FR 1851247 A FR1851247 A FR 1851247A FR 3077792 B1 FR3077792 B1 FR 3077792B1
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France
Prior art keywords
motor vehicle
attitude
longitudinal
road
determining
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FR1851247A
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English (en)
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FR3077792A1 (fr
Inventor
Frederic Andre Jules Dupont
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AML Systems SAS
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AML Systems SAS
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Priority to FR1851247A priority Critical patent/FR3077792B1/fr
Priority to EP19156679.3A priority patent/EP3527453B1/fr
Priority to KR1020190016738A priority patent/KR102542377B1/ko
Priority to JP2019024217A priority patent/JP7237632B2/ja
Priority to CN201910115547.9A priority patent/CN110155074B/zh
Publication of FR3077792A1 publication Critical patent/FR3077792A1/fr
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Classifications

    • 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
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/10—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
    • B60Q1/115—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00
    • B60Q11/005—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00 for lighting devices, e.g. indicating if lamps are burning or not
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/107—Longitudinal acceleration
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/109—Lateral acceleration
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/11—Pitch movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/114—Vehicle acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/13—Attitude of the vehicle body
    • B60Q2300/132—Pitch
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0013—Optimal controllers
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/005—Sampling
    • B60W2050/0051—Sampling combined with averaging
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • 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
    • B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/16—Pitch
    • 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
    • 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
    • B60W2556/20—Data confidence level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

- Procédé et dispositif autonomes de détermination d'une assiette globale d'un véhicule automobile. - Le procédé de détermination autonome d'une assiette dite globale d'un véhicule automobile (2) au cours du roulage le long d'une trajectoire sur une route (S), ladite assiette globale (α) illustrant l'angle entre un axe longitudinal de châssis (X2) du véhicule automobile (2) et un axe longitudinal de route (X1) du véhicule automobile (2), comporte une étape de mesure mise en œuvre à l'aide d'au moins deux accéléromètres agencés sur le châssis et configurés pour mesurer une accélération longitudinale et une accélération verticale du véhicule automobile (2), et une étape de calcul consistant à calculer l'assiette globale (α) du véhicule (2) à l'aide exclusivement des couples de mesures mesurées à l'étape de mesure, ladite étape de calcul considérant que l'accélération verticale et l'accélération longitudinale sont liées entre elles par une fonction affine dont un coefficient de proportionnalité dépend d'une assiette ponctuelle pour une pente (P) de route (S) constante.
FR1851247A 2018-02-14 2018-02-14 Procede et dispositif autonomes de determination d’une assiette d’un vehicule automobile. Active FR3077792B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR1851247A FR3077792B1 (fr) 2018-02-14 2018-02-14 Procede et dispositif autonomes de determination d’une assiette d’un vehicule automobile.
EP19156679.3A EP3527453B1 (fr) 2018-02-14 2019-02-12 Procédé autonome et dispositif de détermination d'une inclinaison globale d'un véhicule à moteur
KR1020190016738A KR102542377B1 (ko) 2018-02-14 2019-02-13 자동차의 글로벌 경사를 결정하기 위한 자율 방법 및 장치
JP2019024217A JP7237632B2 (ja) 2018-02-14 2019-02-14 自動車の全体傾斜を自律的に求めるための方法及び装置
CN201910115547.9A CN110155074B (zh) 2018-02-14 2019-02-14 用于确定机动车辆的整体俯仰度的自主方法和装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1851247 2018-02-14
FR1851247A FR3077792B1 (fr) 2018-02-14 2018-02-14 Procede et dispositif autonomes de determination d’une assiette d’un vehicule automobile.

Publications (2)

Publication Number Publication Date
FR3077792A1 FR3077792A1 (fr) 2019-08-16
FR3077792B1 true FR3077792B1 (fr) 2020-10-02

Family

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Family Applications (1)

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FR1851247A Active FR3077792B1 (fr) 2018-02-14 2018-02-14 Procede et dispositif autonomes de determination d’une assiette d’un vehicule automobile.

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EP (1) EP3527453B1 (fr)
JP (1) JP7237632B2 (fr)
KR (1) KR102542377B1 (fr)
CN (1) CN110155074B (fr)
FR (1) FR3077792B1 (fr)

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CN111252072A (zh) * 2020-03-05 2020-06-09 上海中科深江电动车辆有限公司 针对纯电动汽车实现坡道检测处理的方法
CN112061106B (zh) * 2020-09-15 2022-04-19 中国第一汽车股份有限公司 自动驾驶控制方法、装置、车辆和存储介质
CN113232654B (zh) * 2021-06-17 2023-04-07 清华大学 一种提高爬坡能力的驱动力控制方法
EP4183629B1 (fr) 2021-11-23 2024-02-14 C.R.F. Società Consortile per Azioni Système et procédé de réglage de la direction d'émission d'une unité de phare de véhicule
IT202200008477A1 (it) 2022-04-28 2023-10-28 Fiat Ricerche "Sistema e procedimento per regolare la direzione di emissione di un gruppo proiettore di autoveicolo"

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JPS5931198B2 (ja) * 1978-12-28 1984-07-31 松下電器産業株式会社 直流小型モ−タの整流装置
IT1272047B (it) * 1993-11-10 1997-06-11 Carello Spa Sistema elettronico per la regolazione automatica dell'inclinazione dei proiettori di un veicolo, in particolare un autoveicolo.
JP4321554B2 (ja) * 2006-06-23 2009-08-26 トヨタ自動車株式会社 姿勢角検出装置と姿勢角検出方法
JP2009006836A (ja) * 2007-06-27 2009-01-15 Nissan Motor Co Ltd 進行方向加速度推定装置、自動車、進行方向加速度推定方法および車両制御装置
JP5787649B2 (ja) * 2010-10-26 2015-09-30 株式会社小糸製作所 車両用灯具の制御装置および車両用灯具システム
JP2013044558A (ja) * 2011-08-22 2013-03-04 Nissan Motor Co Ltd 勾配推定装置
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JP6271943B2 (ja) * 2012-10-24 2018-01-31 株式会社小糸製作所 車両用灯具の制御装置
DE102012112141A1 (de) * 2012-12-12 2014-06-12 Scania Cv Ab Verfahren und Vorrichtung zur Regelung einer Längsbeschleunigung eines Fahrzeugs
KR101500070B1 (ko) * 2013-04-15 2015-03-06 현대자동차주식회사 도로경사 추정 시스템
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Also Published As

Publication number Publication date
CN110155074A (zh) 2019-08-23
JP2019200196A (ja) 2019-11-21
CN110155074B (zh) 2024-04-16
JP7237632B2 (ja) 2023-03-13
FR3077792A1 (fr) 2019-08-16
EP3527453B1 (fr) 2021-03-24
KR20190098718A (ko) 2019-08-22
EP3527453A1 (fr) 2019-08-21
KR102542377B1 (ko) 2023-06-12

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