JP2010047237A - Grade inferring device and its method - Google Patents

Grade inferring device and its method Download PDF

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JP2010047237A
JP2010047237A JP2008215859A JP2008215859A JP2010047237A JP 2010047237 A JP2010047237 A JP 2010047237A JP 2008215859 A JP2008215859 A JP 2008215859A JP 2008215859 A JP2008215859 A JP 2008215859A JP 2010047237 A JP2010047237 A JP 2010047237A
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acceleration
road surface
vehicle
gradient
vehicle body
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Hiroshi Fujimoto
博志 藤本
Shinsuke Sato
慎介 佐藤
Toru Suzuki
亨 鈴木
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Yokohama National University NUC
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Yokohama National University NUC
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<P>PROBLEM TO BE SOLVED: To provide a grade inferring device and its method for inferring a grade of a road surface from acceleration and driving force of a vehicle body without requiring an additional device for measuring grade. <P>SOLUTION: This grade inferring device is provided with a driving force computing means for calculating an inferred value of driving force F<SB>d</SB>of a motor vehicle and a grade computing means for calculating a grade of the road surface detected by an acceleration sensor from the force acting on the motor vehicle and the driving force F<SB>d</SB>generated by the acceleration a<SB>x</SB>of the vehicle body of the motor vehicle in the horizontal direction and gravity acceleration (g) of the motor vehicle for the road surface, respectively. The grade is calculated by using the sum of a horizontal component for the road surface of the gravity acceleration (g) and a horizontal component for the road surface of the acceleration (a) of the vehicle body of the motor vehicle due to the driving force of the motor vehicle in the vertical direction to the gravity acceleration as the acceleration a<SB>x</SB>of the vehicle body and using the sum of the driving force F<SB>d</SB>and the force acting on the motor vehicle generated by the horizontal component for the road surface of the gravity acceleration (g) as the force acting on the motor vehicle generated by the horizontal component for the road surface of the acceleration (a) of the vehicle body. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、勾配推定装置及びその方法に関し、より詳細には、加速度情報を用いて路面の勾配を推定する勾配推定装置及びその方法に関する。   The present invention relates to a gradient estimation apparatus and method, and more particularly to a gradient estimation apparatus and method for estimating a road surface gradient using acceleration information.

道路の勾配を測定する方法は、その精度や測定範囲によって様々な方法が存在するが、車両を使って比較的簡易な方法で道路の形状を測定する方法が開発されている。例えば、所定の基準位置からレーザ光を照射し、受光装置を備えた台車で移動しながら受光して基準位置からの高さを算出したり（特許文献１参照）、自動車に取り付けたカメラで撮影された路面映像から路面の傾斜角度を算出したり（特許文献２参照）、ブレーキ制動力に基づいて道路勾配を推定する方法（特許文献３参照）などがある。   There are various methods for measuring the gradient of the road depending on the accuracy and measurement range, and a method for measuring the shape of the road by a relatively simple method using a vehicle has been developed. For example, a laser beam is irradiated from a predetermined reference position, and the height from the reference position is calculated while moving with a carriage equipped with a light receiving device (see Patent Document 1), or shot with a camera attached to the automobile There is a method of calculating a road surface inclination angle from a road image (see Patent Document 2), a method of estimating a road gradient based on a brake braking force (see Patent Document 3), and the like.

特開平１１−１００８０９号公報Japanese Patent Application Laid-Open No. 11-1000080 特開２００２−２５４９５７号公報JP 2002-254957 A 特開２００７−２８３８８２号公報JP 2007-283882 A H. Sado, S. Sakai, T. Uchida, Y. Hori, “Traction Control for Electric Vehicle based on Road Condition Estimation and Slip Ratio Control”, SIASC '98, 1998, No. 3, pp. 321-324H. Sado, S. Sakai, T. Uchida, Y. Hori, “Traction Control for Electric Vehicle based on Road Condition Estimation and Slip Ratio Control”, SIASC '98, 1998, No. 3, pp. 321-324 S. Sakai, H. Sado, Y. Hori, “Novel Wheel Skid Detection Method without Chassis Velocity for Electric Vehicle”, T. IEEJapan, 2000, Vol. 120-D, No. 2, pp. 281-287S. Sakai, H. Sado, Y. Hori, “Novel Wheel Skid Detection Method without Chassis Velocity for Electric Vehicle”, T. IEEJapan, 2000, Vol. 120-D, No. 2, pp. 281-287 K. Fujii, H. Fujimoto, “Study on Traction Control based on Slip Ratio Estimation without Vehicle Speed Detection for Electric Vehicle”, Master Thesis, Yokohama National University, 2007K. Fujii, H. Fujimoto, “Study on Traction Control based on Slip Ratio Estimation without Vehicle Speed Detection for Electric Vehicle”, Master Thesis, Yokohama National University, 2007

しかしながら、従来の勾配測定方法は、レーザ光やカメラを使用する必要があったり、路面状況の変化を測定する装置が必要であったり、勾配を測定するために追加の装置が必要となり、構成が複雑化し、コストがかさむという課題があった。   However, the conventional gradient measurement method requires the use of a laser beam or a camera, requires a device for measuring changes in road surface conditions, or requires an additional device for measuring the gradient, and has a configuration. There was a problem of increasing complexity and cost.

本発明は、このような課題に鑑みてなされたもので、その目的とするところは、勾配を測定するために追加の装置を必要とせずに、車両の制御に用いるために測定される車体の加速度、駆動力から路面の勾配推定を行う勾配推定装置及びその方法を提供することにある。   The present invention has been made in view of such a problem, and an object of the present invention is to provide a vehicle body to be measured for use in vehicle control without requiring an additional device for measuring the gradient. It is an object of the present invention to provide a gradient estimation apparatus and method for estimating a road surface gradient from acceleration and driving force.

このような目的を達成するために、請求項１に記載の発明は、加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定装置であって、前記加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び前記路面に対して垂直方向の前記自動車の車体加速度ａzと、重力加速度ｇから前記路面の勾配を算出することを特徴とする。 In order to achieve such an object, the invention according to claim 1 is a gradient estimation device for estimating a gradient of a road surface on which an automobile is provided, the acceleration sensor being provided with the acceleration sensor. wherein the vehicle body acceleration a z of the vehicle vertical direction relative to the vehicle body acceleration a x and the road surface of the car in the horizontal direction with respect to the road surface but it is detected, calculating a gradient of the road surface from the gravitational acceleration g And

請求項２に記載の発明は、請求項１に記載の勾配推定装置において、前記車体加速度ａxは、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａzは、重力加速度ｇの前記路面に対して垂直な成分と前記車体加速度ａの前記路面に対して垂直な成分との和とすることに基づき前記路面の勾配を計算することを特徴とする。 Invention according to claim 2, in a gradient estimating apparatus according to claim 1, wherein the vehicle body acceleration a x, the vehicle vertical direction with respect to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The vehicle body acceleration a by the driving force of the vehicle is a sum of the horizontal component with respect to the road surface, and the vehicle body acceleration az is a component of the gravitational acceleration g perpendicular to the road surface and the vehicle acceleration a. The gradient of the road surface is calculated based on the sum of the components perpendicular to the road surface.

請求項３に記載の発明は、加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定装置であって、前記自動車の駆動力Ｆdの推定値を算出する駆動力演算手段と、前記駆動力Ｆdと、前記加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び重力加速度ｇのそれぞれによって生じる前記自動車に作用する力とから前記路面の勾配を算出する勾配演算手段とを備えたことを特徴とする。 The invention according to claim 3 is a gradient estimation device that estimates the gradient of the road surface on which the vehicle is traveling in an automobile equipped with an acceleration sensor, and calculates an estimated value of the driving force F d of the automobile. from the driving force calculating means, the driving force F d, a force acting on the vehicle caused by each of the vehicle body acceleration a x and the gravitational acceleration g of the vehicle horizontal direction with respect to the road surface which the acceleration sensor detects Gradient calculating means for calculating the gradient of the road surface is provided.

請求項４に記載の発明は、請求項３に記載の勾配推定装置において、前記勾配演算手段は、前記車体加速度ａxを、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａの前記路面に対して水平な成分によって生じる前記自動車に作用する力を、前記駆動力Ｆdと重力加速度ｇの前記路面に対して水平な成分によって生じる前記自動車に作用する力との和とすることに基づいて前記路面の勾配を計算することを特徴とする。 According to a fourth aspect of the invention, the gradient estimation device according to claim 3, wherein the gradient calculating means, the vehicle body acceleration a x, with respect to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The sum of the vehicle body acceleration a of the vehicle due to the driving force of the vehicle in the vertical direction and the horizontal component of the vehicle body acceleration a acts on the vehicle generated by the horizontal component of the vehicle body acceleration a with respect to the road surface. The road surface gradient is calculated on the basis of the force as the sum of the driving force F d and the force acting on the vehicle caused by the horizontal component of the gravitational acceleration g with respect to the road surface. .

請求項５に記載の発明は、加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定方法であって、前記加速度センサで前記路面に対して水平方向の前記自動車の車体加速度ａx及び前記路面に対して垂直方向の前記自動車の車体加速度ａzを測定するステップと、測定された車体加速度ａx、車体加速度ａz、及び重力加速度ｇから前記路面の勾配を算出するステップとを有することを特徴とする。 The invention according to claim 5 is a gradient estimation method for estimating a gradient of a road surface on which the vehicle is traveling in an automobile provided with an acceleration sensor, wherein the acceleration sensor is used in the horizontal direction with respect to the road surface. gradient of the vehicle body acceleration a x and the steps of measuring the vehicle acceleration a z of the vehicle vertical direction with respect to the road surface, the measured vehicle acceleration a x, the vehicle acceleration a z, and the road surface from the gravitational acceleration g of the automobile A step of calculating.

請求項６に記載の発明は、請求項５に記載の勾配推定方法において、前記車体加速度ａxは、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａzは、重力加速度ｇの前記路面に対して垂直な成分と前記車体加速度ａの前記路面に対して垂直な成分との和とすることに基づき前記路面の勾配を計算することを特徴とする。 Invention according to claim 6, in a gradient estimation method according to claim 5, wherein the vehicle body acceleration a x, the vehicle vertical direction with respect to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The vehicle body acceleration a by the driving force of the vehicle is a sum of the horizontal component with respect to the road surface, and the vehicle body acceleration az is a component of the gravitational acceleration g perpendicular to the road surface and the vehicle acceleration a. The gradient of the road surface is calculated based on the sum of the components perpendicular to the road surface.

請求項７に記載の発明は、加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定方法であって、前記加速度センサで前記路面に対して水平方向の前記自動車の車体加速度ａxを測定するステップと、前記自動車の駆動力Ｆdの推定値を算出する駆動力演算ステップと、前記駆動力Ｆdと、前記加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び重力加速度ｇのそれぞれによって生じる前記自動車に作用する力とから前記路面の勾配を算出する勾配演算ステップとを有することを特徴とする。 The invention according to claim 7 is a gradient estimation method for estimating a gradient of a road surface on which the vehicle is running in an automobile equipped with an acceleration sensor, wherein the acceleration sensor is used in the horizontal direction with respect to the road surface. measuring the vehicle acceleration a x of the motor vehicle, and driving force calculation step of calculating the estimated value of the driving force F d of the motor vehicle, the driving force F d, the horizontal to the road surface on which the acceleration sensor detects and having a slope calculation step of calculating the gradient of the road surface and a force acting on the vehicle caused by each of the vehicle body acceleration a x and the gravitational acceleration g in the direction of the motor vehicle.

請求項８に記載の発明は、請求項７に記載の勾配推定方法において、前記勾配演算手段は、前記車体加速度ａxを、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａの前記路面に対して水平な成分によって生じる前記自動車に作用する力を、前記駆動力Ｆdと重力加速度ｇの前記路面に対して水平な成分によって生じる前記自動車に作用する力との和とすることに基づいて前記路面の勾配を計算することを特徴とする。 The invention according to claim 8, in a gradient estimation method according to claim 7, wherein the gradient calculating means, the vehicle body acceleration a x, with respect to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The sum of the vehicle body acceleration a of the vehicle due to the driving force of the vehicle in the vertical direction and the horizontal component of the vehicle body acceleration a acts on the vehicle generated by the horizontal component of the vehicle body acceleration a with respect to the road surface. The road surface gradient is calculated on the basis of the force as the sum of the driving force F d and the force acting on the vehicle caused by the horizontal component of the gravitational acceleration g with respect to the road surface. .

本発明によれば、勾配を測定するために追加の装置を必要とせずに、車両の制御に用いるために測定される車体の加速度、駆動力から路面の勾配の推定が可能になる。   According to the present invention, it is possible to estimate a road surface gradient from the acceleration and driving force of a vehicle body measured for use in vehicle control without requiring an additional device for measuring the gradient.

以下、図面を参照しながら本発明の実施形態について詳細に説明する。   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

（実施形態１）
加速度センサを備えた自動車において、走行している路面の勾配を推定する。図1において、角加速度の成分をａx、ａz、ｇとする時、加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び前記路面に対して垂直方向の前記自動車の車体加速度ａzと、重力加速度ｇから前記路面の勾配を算出する。 (Embodiment 1)
In an automobile equipped with an acceleration sensor, the gradient of the running road surface is estimated. In FIG. 1, when the components of angular acceleration are a x , a z , and g, the vehicle body acceleration a x in the direction horizontal to the road surface detected by the acceleration sensor and the direction in the direction perpendicular to the road surface are shown. The slope of the road surface is calculated from the vehicle body acceleration az and the gravitational acceleration g.

図１に、斜面における車両の各方向の加速度を示す。それぞれの加速度を図１のようにおくと、加速度センサの出力ａx、ａzは式（１）、（２）のようになる。この時、ａx、ａzは自動車に取り付けられた加速度センサの出力を表し、重力加速度に影響された値を出力するものとする。 FIG. 1 shows the acceleration in each direction of the vehicle on the slope. When the respective accelerations are set as shown in FIG. 1, the outputs a x and a z of the acceleration sensor are as shown in equations (1) and (2). At this time, a x and a z represent the output of the acceleration sensor attached to the automobile, and a value influenced by the gravitational acceleration is output.

Figure 2010047237
Figure 2010047237

Figure 2010047237
Figure 2010047237

それぞれ上式の両辺を２乗して足し、重力加速度に対して垂直方向の車体の加速度ａを求めると次式のようになる。 When both sides of the above equation are squared and added, and the acceleration a of the vehicle body in the direction perpendicular to the gravitational acceleration is obtained, the following equation is obtained.

Figure 2010047237
Figure 2010047237

これよりａxとａzを測定できれば、重力加速度に対して垂直方向の車体の加速度ａを求めることができる。 If measured from a x and a z which can determine the vehicle acceleration a in the direction perpendicular to the gravitational acceleration.

さらに、式（１）、（２）からｓｉｎφ、ｃｏｓφを求めると次式のようになる。   Further, when sin φ and cos φ are obtained from the equations (1) and (2), the following equations are obtained.

Figure 2010047237
Figure 2010047237

Figure 2010047237
Figure 2010047237

このようにして、加速度センサの測定値ａx、ａzに基づき、路面の勾配を推定することができる。 In this way, the gradient of the road surface can be estimated based on the measured values a x and a z of the acceleration sensor.

（実施形態２）
実施形態２では、加速度センサで測定した加速度情報に加え、車両の駆動力情報を用いる。そのため、実施形態１と同様に加速度センサを備えた自動車において、走行している路面の勾配を推定するが、自動車の駆動力Ｆdの推定値を算出する駆動力演算手段を備えている。さらに、駆動力Ｆdと、加速度センサが検出した路面に対して水平方向の前記自動車の車体加速度ａx及び重力加速度ｇのそれぞれによって生じる自動車に作用する力とから前記路面の勾配を算出する勾配演算手段とを備えている。 (Embodiment 2)
In the second embodiment, vehicle driving force information is used in addition to acceleration information measured by an acceleration sensor. Therefore, as in the first embodiment, a vehicle equipped with an acceleration sensor is used to estimate the gradient of the road surface on which the vehicle is traveling, and driving force calculation means for calculating an estimated value of the driving force F d of the vehicle is provided. Further, a gradient for calculating the gradient of the road surface from the driving force F d and the force acting on the vehicle generated by each of the vehicle body acceleration a x and the gravitational acceleration g of the vehicle in the horizontal direction with respect to the road surface detected by the acceleration sensor. And an arithmetic means.

左右の駆動輪をモータで駆動する車両の場合、車両の駆動力を左右それぞれＦl、Ｆrとすると、この駆動力Ｆl、Ｆrは、駆動力オブザーバ（Ｄｒｉｖｉｎｇ Ｆｏｒｃｅ Ｏｂｓｅｒｖｅｒ：ＤＦＯ）によって求めることができる（非特許文献１〜３参照）。このとき、斜面での車両の運動方程式は次式のようになる。 In the case of a vehicle in which left and right drive wheels are driven by motors, assuming that the drive force of the vehicle is F 1 and F r respectively, the drive forces F 1 and F r are obtained by a driving force observer (DFO). (See Non-Patent Documents 1 to 3). At this time, the equation of motion of the vehicle on the slope is as follows.

Figure 2010047237
Figure 2010047237

ここで、Ｍ：車体重量、Ｖ：車体速、Ｆslope：勾配抵抗である。 Here, M is the vehicle body weight, V is the vehicle body speed, and F slope is the slope resistance.

図２（ａ）に坂道における進行方向の加速度、重力加速度と斜面方向の加速度との関係を示し、図２（ｂ）に斜面における車両に作用する力を示す。加速度センサは鉛直方向の重力加速度ｇと、重力加速度ｇに対して直交する進行方向の加速度ａを足し合わせたものを検出するため、登り斜面の場合、加速度センサが検出する加速度ａxは、本来の車体の加速度ａより小さくなる。 FIG. 2A shows the relationship between the acceleration in the traveling direction on the slope, the acceleration of gravity and the acceleration in the slope direction, and FIG. 2B shows the force acting on the vehicle on the slope. Since the acceleration sensor detects the sum of the vertical gravitational acceleration g and the acceleration a in the traveling direction orthogonal to the gravitational acceleration g, the acceleration a x detected by the acceleration sensor in the case of an ascending slope is originally It becomes smaller than the acceleration a of the vehicle body.

すなわち、図２（ａ）から斜面における加速度センサの検出加速度ａx、車両の運動方程式は以下のようになる。 That is, from FIG. 2A, the detected acceleration a x of the acceleration sensor on the slope and the equation of motion of the vehicle are as follows.

Figure 2010047237
Figure 2010047237

Figure 2010047237
Figure 2010047237

ここでａx：加速度センサの斜面方向の測定値、ａ：水平方向の実加速度、ｇ：重力加速度、θ：斜面の勾配である。Ｆd＝Ｆl＝Ｆrとすると、加速度センサの検出した値ａxと駆動力オブザーバによって求めた駆動力 Here, a x is a measured value in the slope direction of the acceleration sensor, a is an actual acceleration in the horizontal direction, g is a gravitational acceleration, and θ is a slope gradient. Assuming that F d = F l = F r , the value a x detected by the acceleration sensor and the driving force obtained by the driving force observer

Figure 2010047237
Figure 2010047237

（Ｆdｈｕｔ）から、水平方向加速度の斜面方向成分と斜面の勾配θは以下のようになる。 From (F d hut), the slope direction component of the horizontal acceleration and the slope gradient θ are as follows.

Figure 2010047237
Figure 2010047237

Figure 2010047237
Figure 2010047237

このようにして、加速度センサの測定値ａxと駆動力オブザーバによって求めた駆動力Ｆdに基づき、路面の勾配を推定することができる。 In this manner, based on the drive force F d obtained by the driving force observer and the measured values a x of the acceleration sensor, it is possible to estimate the slope of the road surface.

斜面における車両の各方向の加速度成分を示す図である。It is a figure which shows the acceleration component of each direction of the vehicle on a slope. （ａ）は、坂道における進行方向の加速度、重力加速度と斜面方向の加速度との関係を示す図であり、図２（ｂ）は、斜面において車両に作用する力を示す図である。(A) is a figure which shows the relationship between the acceleration of the advancing direction in a slope, gravity acceleration, and the acceleration of a slope direction, and FIG.2 (b) is a figure which shows the force which acts on a vehicle on a slope.

Claims (8)

加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定装置であって、
前記加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び前記路面に対して垂直方向の前記自動車の車体加速度ａzと、重力加速度ｇから前記路面の勾配を算出することを特徴とする勾配推定装置。 In a vehicle equipped with an acceleration sensor, a gradient estimation device that estimates a gradient of a road surface on which the vehicle is traveling,
The slope of the road surface is calculated from the vehicle body acceleration a x in the direction horizontal to the road surface detected by the acceleration sensor, the vehicle body acceleration a z in the direction perpendicular to the road surface, and the gravitational acceleration g. A gradient estimation apparatus characterized by that. 前記車体加速度ａxは、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａzは、重力加速度ｇの前記路面に対して垂直な成分と前記車体加速度ａの前記路面に対して垂直な成分との和とすることに基づき前記路面の勾配を計算することを特徴とする請求項１に記載の勾配推定装置。 The vehicle body acceleration a x is the horizontal component with respect to the road surface of the vehicle body acceleration a of the motor vehicle by the driving force of the motor vehicle in the direction perpendicular to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The vehicle body acceleration a z is a sum of a component of the gravitational acceleration g perpendicular to the road surface and a component of the vehicle body acceleration a perpendicular to the road surface. The gradient estimation apparatus according to claim 1, wherein the gradient estimation apparatus calculates the gradient. 加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定装置であって、
前記自動車の駆動力Ｆdの推定値を算出する駆動力演算手段と、
前記駆動力Ｆdと、前記加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び重力加速度ｇのそれぞれによって生じる前記自動車に作用する力とから前記路面の勾配を算出する勾配演算手段と
を備えたことを特徴とする勾配推定装置。 In a vehicle equipped with an acceleration sensor, a gradient estimation device that estimates a gradient of a road surface on which the vehicle is traveling,
Driving force calculating means for calculating an estimated value of the driving force F d of the automobile;
Calculating the gradient of the road surface and a force acting the driving force F d, the motor vehicle caused by each of the vehicle body acceleration a x and the gravitational acceleration g of the vehicle horizontal direction with respect to the road surface on which the acceleration sensor detects A gradient estimation device comprising: a gradient calculation means for performing the calculation. 前記勾配演算手段は、前記車体加速度ａxを、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａの前記路面に対して水平な成分によって生じる前記自動車に作用する力を、前記駆動力Ｆdと重力加速度ｇの前記路面に対して水平な成分によって生じる前記自動車に作用する力との和とすることに基づいて前記路面の勾配を計算することを特徴とする請求項３に記載の勾配推定装置。 The gradient calculating means, the vehicle body acceleration a x, the road surface of the vehicle body acceleration a of the motor vehicle by the driving force of the motor vehicle in the direction perpendicular to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The force acting on the vehicle generated by the horizontal component of the vehicle body acceleration a with respect to the road surface is defined as the sum of the horizontal component with respect to the road surface of the driving force Fd and the gravitational acceleration g. The gradient estimation apparatus according to claim 3, wherein the gradient of the road surface is calculated based on a sum of forces generated by components and acting on the automobile. 加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定方法であって、
前記加速度センサで前記路面に対して水平方向の前記自動車の車体加速度ａx及び前記路面に対して垂直方向の前記自動車の車体加速度ａzを測定するステップと、
測定された車体加速度ａx、車体加速度ａz、及び重力加速度ｇから前記路面の勾配を算出するステップと
を有することを特徴とする勾配推定方法。 In a vehicle equipped with an acceleration sensor, a gradient estimation method for estimating a gradient of a road surface on which the vehicle is traveling,
Measuring the vehicle acceleration a z of the motor vehicle in the vertical direction relative to the vehicle body acceleration a x and the road surface of the motor vehicle in the horizontal direction with respect to the road surface in the acceleration sensor,
And a step of calculating a gradient of the road surface from the measured vehicle body acceleration a x , vehicle body acceleration a z , and gravitational acceleration g. 前記車体加速度ａxは、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａzは、重力加速度ｇの前記路面に対して垂直な成分と前記車体加速度ａの前記路面に対して垂直な成分との和とすることに基づき前記路面の勾配を計算することを特徴とする請求項５に記載の勾配推定方法。 The vehicle body acceleration a x is the horizontal component with respect to the road surface of the vehicle body acceleration a of the motor vehicle by the driving force of the motor vehicle in the direction perpendicular to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The vehicle body acceleration a z is a sum of a component of the gravitational acceleration g perpendicular to the road surface and a component of the vehicle body acceleration a perpendicular to the road surface. The gradient estimation method according to claim 5, wherein calculation is performed. 加速度センサを備えた自動車において、当該自動車が走行している路面の勾配を推定する勾配推定方法であって、
前記加速度センサで前記路面に対して水平方向の前記自動車の車体加速度ａxを測定するステップと、
前記自動車の駆動力Ｆdの推定値を算出する駆動力演算ステップと、
前記駆動力Ｆdと、前記加速度センサが検出した前記路面に対して水平方向の前記自動車の車体加速度ａx及び重力加速度ｇのそれぞれによって生じる前記自動車に作用する力とから前記路面の勾配を算出する勾配演算ステップと
を有することを特徴とする勾配推定方法。 In a vehicle equipped with an acceleration sensor, a gradient estimation method for estimating a gradient of a road surface on which the vehicle is traveling,
Measuring the vehicle acceleration a x of the motor vehicle in the horizontal direction with respect to the road surface in the acceleration sensor,
A driving force calculating step of calculating an estimated value of the driving force F d of the automobile;
Calculating the gradient of the road surface and a force acting the driving force F d, the motor vehicle caused by each of the vehicle body acceleration a x and the gravitational acceleration g of the vehicle horizontal direction with respect to the road surface on which the acceleration sensor detects And a gradient calculating step. 前記勾配演算手段は、前記車体加速度ａxを、重力加速度ｇの前記路面に対して水平な成分と重力加速度に対して垂直方向の前記自動車の駆動力による前記自動車の車体加速度ａの前記路面に対して水平な成分との和とし、前記車体加速度ａの前記路面に対して水平な成分によって生じる前記自動車に作用する力を、前記駆動力Ｆdと重力加速度ｇの前記路面に対して水平な成分によって生じる前記自動車に作用する力との和とすることに基づいて前記路面の勾配を計算することを特徴とする請求項７に記載の勾配推定方法。 The gradient calculating means, the vehicle body acceleration a x, the road surface of the vehicle body acceleration a of the motor vehicle by the driving force of the motor vehicle in the direction perpendicular to the horizontal component and the gravitational acceleration relative to the road surface of the gravitational acceleration g The force acting on the vehicle generated by the horizontal component of the vehicle body acceleration a with respect to the road surface is defined as the sum of the horizontal component with respect to the road surface of the driving force Fd and the gravitational acceleration g. The gradient estimation method according to claim 7, wherein the gradient of the road surface is calculated based on a sum of forces generated by components and acting on the automobile.
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103353299A (en) * 2013-06-20 2013-10-16 西安交通大学 High-precision vehicle-mounted road grade detection device and method
JP2015074293A (en) * 2013-10-07 2015-04-20 日野自動車株式会社 Vehicle and control method
CN106143494A (en) * 2015-05-14 2016-11-23 现代自动车株式会社 Use the apparatus and method of Gravity accelerometer estimation road grade
CN109883394A (en) * 2019-03-04 2019-06-14 吉林大学 A kind of automobile road grade real-time estimation method
KR101977749B1 (en) * 2017-11-21 2019-08-28 현대오트론 주식회사 Apparatus and method for estimating position of vehicle using road slope
CN113335294A (en) * 2021-08-09 2021-09-03 天津所托瑞安汽车科技有限公司 Method and device for estimating longitudinal gradient of road surface, electronic device and storage medium

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103353299A (en) * 2013-06-20 2013-10-16 西安交通大学 High-precision vehicle-mounted road grade detection device and method
JP2015074293A (en) * 2013-10-07 2015-04-20 日野自動車株式会社 Vehicle and control method
CN106143494A (en) * 2015-05-14 2016-11-23 现代自动车株式会社 Use the apparatus and method of Gravity accelerometer estimation road grade
KR101977749B1 (en) * 2017-11-21 2019-08-28 현대오트론 주식회사 Apparatus and method for estimating position of vehicle using road slope
CN109883394A (en) * 2019-03-04 2019-06-14 吉林大学 A kind of automobile road grade real-time estimation method
CN109883394B (en) * 2019-03-04 2021-03-16 吉林大学 Real-time road gradient estimation method for automobile
CN113335294A (en) * 2021-08-09 2021-09-03 天津所托瑞安汽车科技有限公司 Method and device for estimating longitudinal gradient of road surface, electronic device and storage medium
CN113335294B (en) * 2021-08-09 2021-10-29 天津所托瑞安汽车科技有限公司 Method and device for estimating longitudinal gradient of road surface, electronic device and storage medium

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