JP2005014697A - Machine component in automobile, and system for predicting behavior of automobile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To report a safety level including the degree of risk of the occurrence of a slip in an automobile to a driver by predicting the behavior of the automobile at the time of braking, driving, and turning of the automobile. <P>SOLUTION: Machine components 12, such as a tire 14 and a shock absorber 16 in an automobile, having dinamic properties braking/driving drive characteristics, cornering characteristics, and the like, for characterizing the braking performance, driving performance, and turning performance of the automobile have IC tags 14c, 16c having memories 14a, 16a for storing the characteristic information of the dynamic characteristics. A vehicle traveling safety alarming system 10 comprises the machine components 12; a communication device 22 for acquiring the characteristic information of the machine components stored in the memories 14a, 16a; and an arithmetic unit 28 for predicting the lengthwise acceleration and crosswise acceleration of the limit of the automobile by using the characteristic information obtained by the communication device 22. The percentage of allowance of the lengthwise acceleration and crosswise acceleration of the current automobile is calculated for reporting for safe driving. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automobile machine component that affects at least one of the braking performance, drive performance, and turning performance of an automobile, and an automobile behavior prediction system using the machine component.
[0002]
[Prior art]
Today, automobiles are equipped with various devices, systems and components in order to improve the driving safety of the automobile.
For example, automobiles are equipped with anti-skid brake systems (ABS), traction control systems, etc. so that slips during driving on highways in the rain, slips during cornering, and slips on snowy roads do not occur. And studded tires that improve braking performance on snowy roads.
[0003]
Patent Document 1 below discloses a vehicle control device that obtains information on the travel position of an automobile and controls various systems and devices such as four-wheel steering and four-wheel drive of the automobile from road information estimated from weather information. Yes. This vehicle control device controls components and the like mounted on a vehicle in order to suppress the occurrence of slipping in an automobile.
[0004]
[Patent Document 1]
JP 2000-318634 A
[Problems to be solved by the invention]
These devices, systems, and parts improve the safety of automobiles. However, since the driver cannot recognize the traveling speed at which slip occurs and the steering angle of the steering wheel at which slip occurs, the above devices, systems, and There are many cases in which slipping occurs due to overconfidence of parts.
In addition to the above devices, systems, and mounted tires, there are many parts that affect the occurrence of slipping, and therefore the driving conditions under which slipping occurs vary depending on the vehicle.
[0006]
Thus, despite the strong demand for driving safety of automobiles, systems and devices for predicting the occurrence of slips in an actual automobile or notifying that the occurrence of slips has increased are still proposed. The fact is not.
[0007]
Therefore, in order to solve the above-mentioned problems, the present invention predicts the behavior of the vehicle at the time of braking, driving or turning of the vehicle, and the level of safety including the risk of occurrence of slip in the vehicle. An object of the present invention is to provide an automobile behavior prediction system capable of calculating the above and providing a driver with a notice for safe driving, and an automobile mechanical component used in the behavior prediction system.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a mechanical component of a vehicle having mechanical characteristics characterizing at least one of braking performance, driving performance, and turning performance of the vehicle, and stores characteristic information related to the dynamic characteristics. A mechanical component of an automobile is provided, characterized in that the storage means is provided.
[0009]
Here, it is preferable that transmission means for wirelessly transmitting the characteristic information stored in the storage means is provided. Such a machine component of an automobile belongs to, for example, an automobile traveling device or a braking device. The traveling device is, for example, a suspension device or a wheel. In this case, the wheel has a pneumatic tire, and the mechanical component has at least one of a tire cornering characteristic, a tire braking characteristic, a tire driving characteristic, and a tire spring characteristic as the mechanical characteristic. A pneumatic tire is preferred.
[0010]
The present invention also relates to an automobile behavior prediction system for predicting the behavior of an automobile during braking, driving or turning of the automobile, and a mechanics characterizing at least one of the braking performance, driving performance and turning performance of the automobile. The vehicle mechanical component incorporated in the vehicle provided with storage means for storing the characteristic information relating to the mechanical characteristics, and the characteristic information of the vehicle mechanical component stored in the storage means There is provided a behavior prediction system for an automobile characterized by comprising: characteristic information acquisition means for acquiring a vehicle; and arithmetic means for predicting the behavior of the automobile using the characteristic information obtained by the characteristic information acquisition means.
[0011]
In that case, it is preferable that the said calculation means predicts the behavior of a motor vehicle using the motor vehicle driving information containing the driving speed of a motor vehicle. Moreover, it is preferable that the said calculation means predicts the behavior of a motor vehicle using the road surface information which a motor vehicle drive | works.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an automotive machine component and a vehicle behavior prediction system using the machine component according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
[0013]
FIG. 1A is a block diagram showing a configuration of a vehicle travel safety warning system (hereinafter referred to as a system) 10 which is an example of a behavior prediction system for an automobile of the present invention using mechanical components of the automobile of the present invention. Show.
The system 10 includes an automobile component 12 (tire 14, shock absorber 16, etc.) attached to the automobile, and a behavior calculation system 20 mounted on the automobile.
[0014]
An automotive machine component (hereinafter referred to as a component) 12 is a mechanical component of a vehicle having mechanical characteristics that characterize at least one of braking performance, driving performance, and turning performance of the vehicle, and supports, for example, the weight of the vehicle. Examples of the machine component and the machine component that controls the movement of the automobile are illustrated. Examples of mechanical components that support the weight of an automobile include mechanical components that belong to a suspension device such as a wheel such as a tire or a wheel, a shock absorber, a spring, or a stabilizer. In addition, examples of mechanical components that control the movement of an automobile include mechanical components belonging to a steering device (steering device) such as a steering gear and mechanical components belonging to a braking device. Such a component 12 is preferably replaceable and replaceable as a unit.
[0015]
The component 12 is stored in the memory (14a, 16a) that stores characteristic information about its own mechanical characteristics in the machine component alone and in the memory (14a, 16a) in response to a call from the system 20 on the vehicle body side. Tag (14c, 16c) having a transmitter (14b, 16b) for wirelessly transmitting the characteristic information. A known tag such as a transponder or an IC tag is used as the tag.
[0016]
Such a component 12 transmits characteristic information in response to an inquiry from the system 20 when the component 12 is replaced. FIG. 1B shows an example when the pneumatic tire (hereinafter referred to as a tire) 14 and the shock absorber 16 are replaced as an example.
The system 20 acquires characteristic information transmitted from the tire 14 and the shock absorber 16 at the time of replacement, and is used for prediction of the behavior of the automobile in the system 20 as will be described later.
[0017]
The characteristic information transmitted by the tire 14 is one piece of information with few braking characteristics, driving characteristics, cornering characteristics, and spring characteristics, which are measured in advance in a laboratory test as characteristics of the tire alone.
For example, in the case of the braking characteristic and the driving characteristic, as shown in FIG. 2A, numerical data of the braking / driving curve when the horizontal axis represents the slip ratio and the vertical axis represents the braking / driving force. FIG. 2 (a) shows the braking / driving characteristics under six load conditions at a tire pressure of 260 (kPa) and a traveling speed of 60 (km / hour). Data on braking / driving characteristics under a predetermined load condition is stored in the memory 14 a and transmitted to the system 20. Of course, data of braking / driving characteristics under a plurality of load conditions may be stored in the memory 14 a and transmitted to the system 20.
[0018]
Further, as the characteristic information of the cornering characteristics, as shown in FIG. 2B, a predetermined value is obtained when the horizontal axis indicates the slip angle, and the vertical axis indicates the axial force and moment generated at the tire rotation axis at each slip angle. Numerical data of cornering characteristics at the running speed, load, and tire air pressure is exemplified. For example, numerical data of cornering force C _F , side force S _F , cornering resistance C _R , cornering drag D, self-aligning torque SAT, and overturning moment OTM are transmitted. Since the cornering characteristics have load dependency, a plurality of cornering characteristics under different load conditions may be transmitted as numerical data. 4 shows, as a characteristic information to be transmitted, an example of a side force S _F in 4 loading conditions.
Further, the characteristic information on the tire spring characteristics is exemplified by the spring constants in the longitudinal direction, the front-rear direction, and the left-right direction in the load of the tire.
[0019]
Further, as the characteristic information transmitted by the shock absorber 16, numerical data of a characteristic curve representing the damping force with respect to the piston speed of the shock absorber 16 as illustrated in FIG. 3 is exemplified. FIG. 3 illustrates characteristics of a “NORMAL” type shock absorber, a “SPORT” type characteristic, and a “HARD” type characteristic. For example, if the shock absorber 16 is the “SPORT” type, numerical data of the “SPORT” characteristic in FIG. 3 is stored in advance in the memory 16 c, and this numerical data is called and transmitted to the system 20.
The shock absorber 16 generally has a small damping force when the piston speed is 0.3 (m / sec) or less and does not significantly affect the turning performance. However, the shock absorber 16 is attenuated during sports driving or hard driving where the piston speed increases. Strength increases. For this reason, in sports driving and hard driving, the damping force changes greatly according to changes in the driving speed, longitudinal acceleration, lateral acceleration, or steering angle of the vehicle, reducing the roll of the vehicle body and roll overshoot, It has a function to improve the limits of turning performance and braking / driving performance. Further, the spring constant of the shock absorber 16 is generally 1.5 to 3.0 (kgf / mm), and in the case of sports running or hard running, the spring constant is increased to 10 to 25 (kgf / mm). It has a function to improve the limit of turning performance and braking / driving performance of automobiles. For this reason, the spring constant of the shock absorber 16 is also included as the characteristic information.
[0020]
The system 20 is provided in the automobile body and includes a communication device 22, a memory 24, a measurement device 26, a calculation device 28, and a notification device 30.
The communication device 22 transmits an instruction signal instructing the component parts 12 such as the tire 14 and the shock absorber 16 to transmit the characteristic information, and receives the characteristic information transmitted by the tire 14 and the shock absorber 16 and the like. Device. The communication device 22 is provided with a known communication circuit (not shown) such as an antenna, an oscillation circuit, and a demodulation circuit.
The received characteristic information of the component 12 is stored in the memory 24 via the arithmetic device 28.
[0021]
The memory 24 is a part that stores and holds the characteristic information transmitted from the component parts 12 such as the tire 14 and the shock absorber 16, and the memory 24 is a component part other than the tire 14 and the shock absorber 16 to be replaced at present. 12 characteristic information such as steering characteristic information is also stored and saved. The characteristic information includes not only information performed every time a part is replaced but also information previously set as characteristic information of the automobile. In other words, the stored characteristic information is rewritten at every exchange. These pieces of characteristic information stored in the memory 24 are used for calculation for performing behavior prediction by the calculation device 28.
[0022]
The measurement device 26 includes a plurality of measurement units that acquire information used for calculation performed by the calculation device 28. For example, a speed measurement unit that measures traveling speed, a steering angle measurement unit that measures steering angle, lateral acceleration, An acceleration element measurement unit that measures acceleration and a wheel measurement unit that measures tire load and tire pressure acting on each wheel are provided. The measurement results (car driving information) obtained by each of these units are supplied to the arithmetic unit 28.
[0023]
The arithmetic unit 28 is a part for predicting the behavior of the automobile using the measurement result supplied from the measuring unit 26 and the characteristic information of each machine component called from the memory 24. For example, limit values such as the maximum lateral acceleration during turning of the vehicle and the maximum longitudinal acceleration during braking / driving can be obtained through a well-known vehicle analysis model (two-wheel model, four-wheel model) or an analytical expression represented by numerical values or expressions. While calculating the prediction, the margin ratio is calculated by comparing the prediction calculation result with the measurement results of the lateral acceleration, the longitudinal acceleration and the like measured by the measuring device 26, and notification should be made according to the calculation result of the margin ratio. Information is supplied to the notification device 30.
At that time, the arithmetic device 28 corrects the characteristic information called from the memory 24 according to the vehicle traveling information such as the traveling speed measured by the measuring device 26, the tire load acting on each wheel, the tire pressure, and the like. The obtained characteristic information is used for the prediction calculation. For example, since the side force, which is characteristic information of the cornering characteristics of the tire 14, is load-dependent as shown in FIG. 4, a coefficient for multiplying the side force in the set load is determined by the ratio of the tire load to the set load. The side force is corrected using a coefficient. This makes it possible to accurately predict the maximum lateral acceleration and maximum longitudinal acceleration under the current driving conditions of the automobile.
[0024]
In addition, the measuring device 26 measures the travel distance, travel time or elapsed time after the replacement of the component part 12, and uses the travel distance, travel time or elapsed time to represent changes in the characteristics of the machine component due to deterioration over time. Alternatively, the characteristic information may be corrected.
[0025]
When the notification device 30 receives the information to be notified supplied from the arithmetic device 28, the notification device 30 notifies the driver to that effect by sound or screen display. For example, the margin ratio of the current lateral acceleration with respect to the maximum lateral acceleration is divided into 3 to 5 stages, and a warning level is set and notified by this margin ratio.
[0026]
In such a system 10, first, when the machine component to be replaced is a tire, when the fact that the object to be replaced is a tire is input to the computing device 28, a signal for inquiring characteristic information of the tire 14 from the communication device 22. In response to this signal, the characteristic information stored in the memory 14c is transmitted to the system 20 from the tag 14 provided on the tire 14.
In the system 20, the transmitted characteristic information is stored in the memory 24, and the stored tire characteristic information is rewritten.
Thus, after the characteristic information of the replaced tire is stored in the memory 24, the vehicle starts to run. At that time, the characteristic information of various machine components stored in the memory 24 is called, while the vehicle running information measured from the measuring device 26 is supplied. Then, using these characteristic information and vehicle travel information, the current lateral acceleration and longitudinal acceleration margin ratios for the limit values such as the maximum lateral acceleration and maximum longitudinal acceleration of the vehicle are calculated from the vehicle analysis model and analytical formula. The Notification by sound or screen display is performed from the notification device 30 according to the calculated margin rate.
[0027]
In the above example, the characteristic information of the component 12 is transmitted wirelessly, but the present invention is not limited to this. For example, the characteristic information may be recorded on the component 12 in a barcode format, and the information recorded in the barcode format may be read by a barcode reader and input to the system 20. Further, the characteristic information stored in the component 12 is not necessarily limited to the numerical data of the characteristic curve shown in FIGS. 2A, 2B, 3 and the like, and when the characteristic curve is classified into several stages. The classification information may also be used. In this case, the correspondence relationship between the classification data and the characteristic information of the numerical data is recorded in the memory 24. The correspondence relationship between the numerical data of the characteristic curve and the classification information is provided in advance by a manufacturer that manufactures the component part 12 by a recording medium such as a ROM chip or by wireless communication.
[0028]
In the above example, the margin ratio is used to notify the driver of the vehicle for safe driving, but the notification device 30 may notify the outside of the vehicle, for example, before and after the vehicle. Alternatively, information based on the margin ratio may be notified to other automobiles traveling side by side on the left and right. For example, information based on the margin ratio is transmitted wirelessly to a parallel running car.
[0029]
Furthermore, as shown in FIG. 5 (a), using a system 20 mounted on the vehicle, a pedestrian crossing or a pedestrian at an intersection where a traffic signal is installed is notified of the approach of a traveling vehicle that is likely to overshoot. The system 50 can also be configured.
For example, a receiving device 40 that receives information transmitted from the in-vehicle system 20 is provided at a location about 100 m away from the installation position of the traffic light, the stop position is calculated from the received information, and the stop position crosses according to the calculation result. An evaluation device 42 that performs an evaluation of whether or not to stop before a sidewalk or an intersection, and that there is a high possibility that the vehicle cannot be stopped is connected to the receiving device 40, and a notification device installed in a traffic light based on the evaluation result 44, an alarm and information are notified.
[0030]
FIG. 5B is a block diagram showing a schematic configuration of such a system 50.
In FIG. 5B, the same reference numerals are given to those having the same configuration and function as each device shown in FIG.
The computing device 28 transmits vehicle traveling information such as the calculated maximum lateral acceleration, maximum longitudinal acceleration, traveling speed measured by the measuring device 26, brake pressure, longitudinal acceleration, slip ratio of each wheel, and the receiving device 40. Based on these information, the stop position at the pedestrian crossing or intersection of the car is calculated and evaluated based on a preset formula etc., and if the stop position crosses the pedestrian crossing or the intersection, the evaluation device 42 is notified at an alarm level according to the possibility of the stop position being over.
[0031]
In the arithmetic unit 28, the brake characteristic information of the braking device, the characteristic information such as the braking / driving characteristic of the tire stored in the memory 24, the vehicle speed such as the traveling speed measured by the measuring device 26, the load acting on each wheel, etc. Used with the information, the maximum longitudinal acceleration is calculated.
The communication device 22 transmits the calculated maximum longitudinal acceleration, the measured vehicle slip ratio, the traveling speed, and the like. In the evaluation device 42, road surface information in the vicinity of a pedestrian crossing or an intersection, for example, a friction coefficient between a dry road surface and a tire, or a friction coefficient that decreases due to wetness on the road surface, and friction that decreases due to freezing of the road surface or snow on the road surface. The stop position of the automobile is calculated using the coefficient. As the road surface information, a friction coefficient of a dry road surface is set in advance, and the change of the road surface information due to weather is set by correcting the friction coefficient based on weather information such as rainfall, snow cover, and temperature. Alternatively, the road surface may be monitored by a monitoring monitor, and the friction coefficient may be corrected based on the operator's manual setting from the road surface displayed on the monitor.
[0032]
In the example described above, the maximum longitudinal acceleration of the automobile is calculated in the on-board computing device 28, and the calculation result and the vehicle running information measured by the measuring device 26 are transmitted to the evaluation device 42 side. Without calculating the maximum longitudinal acceleration, the characteristic information stored in the memory 24 and the vehicle traveling information such as the traveling speed, the load of each wheel, the brake pressure, and the slip ratio are transmitted, and the evaluation device 42 uses various information. The stop position may be calculated.
In this way, the evaluation device 42 determines a warning level based on the evaluation result, and causes the notification device 44 installed in the traffic light to notify the warning and information.
[0033]
Furthermore, the present invention can also provide a system for evaluating whether or not an automobile can safely travel on a road to be traveled as shown in FIG.
In the system 80 shown in FIG. 6, in order to permit the passage of the automobile, a blocking gate 82 for raising and lowering the gate is provided on the road, and an evaluation device 84 for evaluating the propriety of driving of the automobile is connected to the blocking gate 82. ing. The evaluation device 84 is connected to a communication device 86 that receives the characteristic information of the component 12, vehicle travel information, and the like transmitted from the system 20 mounted on the vehicle. The communication device 86 is installed beside the road in front of the blocking gate 82. The evaluation device 84 is connected with a road surface information acquisition device 90 for grasping road surface information (dry state, wet state, wet state where a water film is present, water depth when there is a water film, frozen state, snow cover state, etc.). Has been. The road surface information acquisition device 90 is connected to a plurality of sensors (temperature sensor, humidity sensor, water amount measurement sensor) 88 for monitoring road information, and the plurality of sensors 88 are connected to the side edge of the road extending from the blocking gate 82 or Embedded in the road.
6 has the same configuration as the system 20 shown in FIG. 1A and will not be described.
[0034]
When the vehicle comes to the shut-off gate 82, the characteristic information stored in the memory 24 and the vehicle traveling information are transmitted from the system 20 to the communication device 86, and the characteristic information received by the communication device 86 is supplied to the evaluation device 84. . On the other hand, the evaluation device 84 is supplied with the road surface information acquired by the road surface information acquisition device 90 in response to a signal from the sensor 88, and the friction coefficient between the road surface and the tire is obtained based on the road surface information. Further, it is evaluated whether or not the automobile can travel safely using the friction coefficient and the supplied characteristic information. For example, it is evaluated whether or not the braking performance (braking force), driving performance (driving force) or turning performance (maximum lateral acceleration) of an automobile falls within an allowable range at a predetermined traveling speed. If the result of the evaluation is negative, the blocking gate 82 remains blocked and presents the driver with no traffic permission. On the other hand, if the determination is affirmative, the blocking gate 82 opens. At that time, the road surface information and the calculated friction coefficient are transmitted from the communication device 86 to the system 20. In the system 20, the arithmetic device 28 uses the transmitted road surface information and the friction coefficient to calculate the limit lateral acceleration and longitudinal acceleration, which can be used for warning by the notification device 30.
[0035]
Further, the sensor 88 and the road surface information acquisition device 90 are not provided, and the traffic can be restricted according to the load of the automobile and the ground pressure, for example, like the traffic on a bridge. That is, the evaluation device 84 obtains the ground pressure of each tire in contact with the road surface from the tire air pressure measured for each wheel, compares this ground pressure with a preset allowable pressure, and if the ground pressure exceeds the allowable pressure, Restrict traffic.
[0036]
In such a system 80, the blocking gate 82 is not necessarily provided. For example, the road surface information and the calculated friction coefficient are transmitted from the communication device 86 installed beside the road to the system 20 of the traveling vehicle. In the system 20, the transmitted road surface information and friction coefficient are used to calculate the limit lateral acceleration and longitudinal acceleration, which can be used for warning by the notification device 30.
[0037]
As mentioned above, although the vehicle mechanical component of this invention and the behavior prediction system of the vehicle using this machine component were demonstrated in detail, this invention is not limited to the said Example, The range which does not deviate from the summary of this invention Of course, various improvements and modifications may be made.
[0038]
【The invention's effect】
As described above in detail, the present invention predicts the behavior of the vehicle at the time of braking, driving or turning of the vehicle, and the safety level including the risk of occurrence of slip in the vehicle ( Margin rate) can be calculated and the driver can be notified for safe driving. In addition, the present invention can be applied to a system that efficiently determines whether or not a vehicle can pass when traffic is restricted according to road conditions.
[Brief description of the drawings]
FIG. 1A is a block diagram showing a configuration of a vehicle travel safety warning system that is an example of a system for predicting behavior of a vehicle using machine components of the vehicle of the present invention, and FIG. It is a figure explaining the function at the time of replacement | exchange of the mechanical component of the motor vehicle of invention.
FIGS. 2A and 2B are diagrams showing an example of characteristic information of mechanical components of an automobile according to the present invention.
FIG. 3 is a view showing another example of characteristic information of machine component parts of an automobile according to the present invention.
FIG. 4 is a diagram illustrating an example of cornering characteristics of a tire.
5A is a diagram for explaining an example system using the vehicle behavior prediction system of the present invention, and FIG. 5B is a block diagram showing a schematic configuration of the system shown in FIG. 5A. is there.
FIG. 6 is a diagram for explaining another example system using the automobile behavior prediction system of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Vehicle driving | running | working safety warning system 12 Automotive machine component 14 Tire 16 Shock absorber 20 Behavior calculation system 22,86 Communication apparatus 24 Memory 26 Measurement apparatus 28 Calculation apparatus 30,44 Notification apparatus 40 Reception apparatus 42,84 Evaluation apparatus 80 System 82 Shut off Gate 88 Sensor 99 Road surface information acquisition device

Claims (8)

A mechanical component of an automobile having mechanical characteristics characterizing at least one of the braking performance, driving performance and turning performance of the automobile,
A mechanical component of an automobile, comprising storage means for storing characteristic information relating to the mechanical characteristics. 2. The mechanical component of an automobile according to claim 1, further comprising a transmission unit that wirelessly transmits the characteristic information stored in the storage unit. The mechanical component of a vehicle according to claim 1 or 2, which belongs to a vehicle traveling device or a braking device. The machine component of an automobile according to claim 3, wherein the traveling device is a suspension device or a wheel. The wheel has a pneumatic tire;
The automobile mechanical component according to claim 4, wherein the mechanical component is a pneumatic tire having at least one of a tire cornering characteristic, a tire braking characteristic, a tire driving characteristic, and a tire spring characteristic as the mechanical characteristic. A vehicle behavior prediction system that predicts the behavior of a vehicle during braking, driving or turning of the vehicle,
A mechanical component of an automobile incorporated in the automobile having a mechanical characteristic that characterizes at least one of the braking performance, driving performance, and turning performance of the automobile, and provided with storage means for storing characteristic information relating to the dynamic characteristics; ,
Characteristic information acquisition means for acquiring the characteristic information of the mechanical component of the automobile stored in the storage means;
An automobile behavior prediction system comprising: an arithmetic means for predicting the behavior of the automobile using the characteristic information obtained by the characteristic information acquisition means. The automobile behavior prediction system according to claim 6, wherein the calculation means predicts the behavior of the automobile using automobile running information including a running speed of the automobile. The automobile behavior prediction system according to claim 6 or 7, wherein the calculation means predicts the behavior of the automobile using road surface information on which the automobile travels.

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