JP2010506782A - ピッチレートセンサの信号のずれを求めるための方法と装置 - Google Patents
ピッチレートセンサの信号のずれを求めるための方法と装置 Download PDFInfo
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- JP2010506782A JP2010506782A JP2009532748A JP2009532748A JP2010506782A JP 2010506782 A JP2010506782 A JP 2010506782A JP 2009532748 A JP2009532748 A JP 2009532748A JP 2009532748 A JP2009532748 A JP 2009532748A JP 2010506782 A JP2010506782 A JP 2010506782A
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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
- B60G17/019—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
- B60G17/01908—Acceleration or inclination sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- 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
- B60W40/11—Pitch movement
-
- 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
- B60W40/112—Roll movement
-
- 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
- B60W40/114—Yaw movement
-
- 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
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0522—Pitch rate
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- 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
- B60G2400/90—Other conditions or factors
- B60G2400/95—Position of vehicle body elements
-
- 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
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
-
- 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
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
-
- 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
- B60G2800/702—Improving accuracy of a sensor signal
Abstract
Description
Claims (8)
- 車両(2)のピッチレートセンサの信号のずれ(OFF_SIG)を求める方法において、
−前記ピッチレートセンサの信号(OMEGA_TETA_SIG)を検出し、
−前記車両(2)の長手方向加速度(ACC)を求め、
−前記長手方向加速度(ACC)の時間微分(ACC_DRV)を求め、
−前記長手方向加速度(ACC)の時間微分(ACC_DRV)の絶対値が所定の第1の閾値(THD_1)よりも小さいか否かを求め、
−前記長手方向加速度(ACC)の前記時間微分(ACC_DRV)の絶対値が所定の第1の閾値(THD_1)よりも小さい場合には、前記ピッチレートセンサの信号(OMEGA_TETA_SIG)に依存して、前記ピッチレートセンサの信号のずれ(OFF_SIG)を求めることを特徴とする、車両(2)のピッチレートセンサの信号のずれ(OFF_SIG)を求める方法。 - 前記ピッチレートセンサの信号(OMEGA_TETA_SIG)を所定の期間にわたり検出し、前記長手方向加速度(ACC)の時間微分(ACC_DRV)の絶対値が前記所定の第1の閾値(THD_1)よりも小さい間に検出される、前記ピッチレートセンサの信号(OMEGA_TETA_SIG)の一部にのみ依存して前記信号のずれ(OFF_SIG)を求める、請求項1記載の方法。
- 前記車両(2)の長手方向加速度(ACC)は長手方向加速度センサを用いて求める、請求項1または2記載の方法。
- 前記車両(2)の前記長手方向加速度(ACC)は前記車両(2)の車両加速度(VEH_VEL)および前記車両(2)の少なくとも1つの車輪(4)の車輪速度(WHEEL_VEL)に依存して求める、請求項1から3までのいずれか1項記載の方法。
- 前記車両(2)の少なくとも1つの車輪(4)の車輪速度(WHEEL_VEL)を求め、求められた相応の車輪(2)の求められた車輪速度(WHEEL_VEL)の絶対値が所定の第2の閾値(THD_2)よりも小さい場合には、前記ピッチレートセンサの信号のずれ(OFF_SIG)を前記ピッチレートセンサの信号(OMEGA_TETA_SIG)に依存して求める、請求項1から4までのいずれか1項記載の方法。
- 車両速度(VEH_VEL)を求め、求められた車両速度(VEH_VEL)の絶対値が所定の第2の閾値(HTD_2)よりも小さい場合には、前記ピッチレートセンサの信号のずれ(OFF_SIG)を前記ピッチレートセンサの信号(OMEGA_TETA_SIG)に依存して求める、請求項1から5までのいずれか1項記載の方法。
- 前記ピッチレートセンサの信号(OMEGA_TETA_SIG)の時間微分(SIG_DRV)を求め、前記ピッチレートセンサの信号(OMEGA_TETA_SIG)の時間微分(SIG_DRV)の絶対値が所定の第3の閾値(THD_3)よりも小さい場合には、前記ピッチレートセンサの信号のずれ(OFF_SIG)を前記ピッチレートセンサの信号(OMEGA_TETA_SIG)に依存して求める、請求項1から6までのいずれか1項記載の方法。
- 車両(2)のピッチレートセンサの信号のずれ(OFF_SIG)を求める装置において、
−前記ピッチレートセンサの信号(OMEGA_TETA_SIG)を検出し、
−前記車両(2)の長手方向加速度(ACC)を求め、
−前記長手方向加速度(ACC)の時間微分(ACC_DRV)を求め、
−前記長手方向加速度(ACC)の時間微分(ACC_DRV)の絶対値が所定の第1の閾値(THD_1)よりも小さいか否かを検査し、
−前記長手方向加速度(ACC)の前記時間微分(ACC_DRV)の絶対値が所定の第1の閾値(THD_1)よりも小さい場合には、前記ピッチレートセンサの信号(OMEGA_TETA_SIG)に依存して、前記ピッチレートセンサの信号のずれ(OFF_SIG)を求めることを特徴とする、車両(2)のピッチレートセンサの信号のずれ(OFF_SIG)を求める装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006049118A DE102006049118B4 (de) | 2006-10-18 | 2006-10-18 | Verfahren und Vorrichtung zum Ermitteln eines Signalversatzes eines Nickratensensors |
DE102006049118.1 | 2006-10-18 | ||
PCT/EP2007/059696 WO2008046700A1 (de) | 2006-10-18 | 2007-09-14 | Verfahren und vorrichtung zum ermitteln eines signalversatzes eines nickratensensors |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010506782A true JP2010506782A (ja) | 2010-03-04 |
JP4903269B2 JP4903269B2 (ja) | 2012-03-28 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2009532748A Expired - Fee Related JP4903269B2 (ja) | 2006-10-18 | 2007-09-14 | ピッチレートセンサの信号のずれを求めるための方法と装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US20110004359A1 (ja) |
EP (1) | EP2080072B1 (ja) |
JP (1) | JP4903269B2 (ja) |
KR (1) | KR20090068377A (ja) |
CN (1) | CN101548249B (ja) |
AT (1) | ATE481666T1 (ja) |
DE (2) | DE102006049118B4 (ja) |
WO (1) | WO2008046700A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010078595A (ja) * | 2008-08-29 | 2010-04-08 | Sony Corp | 速度算出装置、速度算出方法及びナビゲーション装置 |
JP2010516534A (ja) * | 2007-01-30 | 2010-05-20 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | ロールレートセンサの信号のずれを求めるための方法と装置 |
JP2011064500A (ja) * | 2009-09-15 | 2011-03-31 | Sony Corp | 速度算出装置、速度算出方法及びナビゲーション装置 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010002680A1 (de) | 2010-03-09 | 2011-09-15 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erkennung einer Abweichung eines Drehratensignals eines Drehratensensors |
DE102018129864A1 (de) * | 2018-11-27 | 2020-05-28 | Valeo Schalter Und Sensoren Gmbh | Verfahren und System zur Rekalibrierung von Winkeln |
DE102019003238B4 (de) * | 2019-05-08 | 2023-04-20 | Mercedes-Benz Group AG | Fahrzeugortung durch Kartenabgleich unter Berücksichtigung eines Straßenprofils |
DE102019212300A1 (de) * | 2019-08-16 | 2021-02-18 | Zf Friedrichshafen Ag | Verfahren zur Ermittlung einer Längsbeschleunigung eines Kraftfahrzeuges |
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-
2006
- 2006-10-18 DE DE102006049118A patent/DE102006049118B4/de not_active Expired - Fee Related
-
2007
- 2007-09-14 AT AT07803493T patent/ATE481666T1/de active
- 2007-09-14 EP EP07803493A patent/EP2080072B1/de not_active Not-in-force
- 2007-09-14 JP JP2009532748A patent/JP4903269B2/ja not_active Expired - Fee Related
- 2007-09-14 CN CN2007800389376A patent/CN101548249B/zh not_active Expired - Fee Related
- 2007-09-14 US US12/445,976 patent/US20110004359A1/en not_active Abandoned
- 2007-09-14 DE DE502007005082T patent/DE502007005082D1/de active Active
- 2007-09-14 KR KR1020097010173A patent/KR20090068377A/ko not_active Application Discontinuation
- 2007-09-14 WO PCT/EP2007/059696 patent/WO2008046700A1/de active Application Filing
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JPH05280624A (ja) * | 1992-03-31 | 1993-10-26 | Mitsubishi Motors Corp | 車両用自動変速機の変速制御方法 |
JPH0740760A (ja) * | 1993-07-28 | 1995-02-10 | Mitsubishi Electric Corp | 車両用定速走行装置 |
JPH0996534A (ja) * | 1995-09-29 | 1997-04-08 | Matsushita Electric Ind Co Ltd | ナビゲーション装置 |
JP2000356647A (ja) * | 1999-06-14 | 2000-12-26 | Denso Corp | 加速度センサのオフセット誤差検出方法及び装置、車両用現在位置検出装置、ナビゲーション装置 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2010516534A (ja) * | 2007-01-30 | 2010-05-20 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | ロールレートセンサの信号のずれを求めるための方法と装置 |
JP2010078595A (ja) * | 2008-08-29 | 2010-04-08 | Sony Corp | 速度算出装置、速度算出方法及びナビゲーション装置 |
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JP2011064500A (ja) * | 2009-09-15 | 2011-03-31 | Sony Corp | 速度算出装置、速度算出方法及びナビゲーション装置 |
Also Published As
Publication number | Publication date |
---|---|
DE502007005082D1 (de) | 2010-10-28 |
KR20090068377A (ko) | 2009-06-26 |
JP4903269B2 (ja) | 2012-03-28 |
DE102006049118A1 (de) | 2008-04-24 |
ATE481666T1 (de) | 2010-10-15 |
CN101548249A (zh) | 2009-09-30 |
EP2080072B1 (de) | 2010-09-15 |
EP2080072A1 (de) | 2009-07-22 |
CN101548249B (zh) | 2012-02-01 |
DE102006049118B4 (de) | 2008-12-18 |
US20110004359A1 (en) | 2011-01-06 |
WO2008046700A1 (de) | 2008-04-24 |
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