JP2012218736A - 積荷情報に基づいて重心補償を行う自動車動的制御システム - Google Patents

積荷情報に基づいて重心補償を行う自動車動的制御システム Download PDF

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Publication number
JP2012218736A
JP2012218736A JP2012090871A JP2012090871A JP2012218736A JP 2012218736 A JP2012218736 A JP 2012218736A JP 2012090871 A JP2012090871 A JP 2012090871A JP 2012090871 A JP2012090871 A JP 2012090871A JP 2012218736 A JP2012218736 A JP 2012218736A
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Japan
Prior art keywords
vehicle
load
control
controller
control system
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JP2012090871A
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English (en)
Japanese (ja)
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JP2012218736A5 (enExample
Inventor
Frank-Juergen Stuetzler
フランク−ヨルゲン・シュトツラー
Jason Trombley
ジェーソン・トロンブリー
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of JP2012218736A publication Critical patent/JP2012218736A/ja
Publication of JP2012218736A5 publication Critical patent/JP2012218736A5/ja
Withdrawn legal-status Critical Current

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    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1315—Location of the centre of gravity
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2520/28—Wheel 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw
    • 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
    • B60W30/02—Control of vehicle driving stability

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Vehicle Body Suspensions (AREA)
  • Testing Of Balance (AREA)
JP2012090871A 2011-04-12 2012-04-12 積荷情報に基づいて重心補償を行う自動車動的制御システム Withdrawn JP2012218736A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/084,987 2011-04-12
US13/084,987 US8694207B2 (en) 2011-04-12 2011-04-12 Vehicle dynamic control systems with center of gravity compensation based on cargo information

Publications (2)

Publication Number Publication Date
JP2012218736A true JP2012218736A (ja) 2012-11-12
JP2012218736A5 JP2012218736A5 (enExample) 2015-05-21

Family

ID=46044381

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012090871A Withdrawn JP2012218736A (ja) 2011-04-12 2012-04-12 積荷情報に基づいて重心補償を行う自動車動的制御システム

Country Status (3)

Country Link
US (1) US8694207B2 (enExample)
EP (1) EP2511149B1 (enExample)
JP (1) JP2012218736A (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022532823A (ja) * 2019-03-07 2022-07-20 ボルボトラックコーポレーション 車両の質量特性を決定する方法

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US8825294B2 (en) * 2011-07-28 2014-09-02 Deere & Company Vehicle center of gravity active suspension control system
EP2910443A1 (en) * 2012-10-16 2015-08-26 Pioneer Corporation Centroid estimation device and centroid estimation method
JP6270096B2 (ja) * 2013-04-24 2018-01-31 ボッシュ株式会社 ブレーキ制御装置
US9872428B2 (en) 2014-05-22 2018-01-23 Cnh Industrial America Llc Agricultural implement with a weight distribution system
CN104090568A (zh) * 2014-07-15 2014-10-08 哈尔滨工业大学 基于电子控制单元的汽车横摆稳定控制测试系统
WO2017068386A1 (en) * 2015-10-20 2017-04-27 Volvo Truck Corporation Method of optimization of the dynamic functions of a vehicle
US9943963B2 (en) * 2016-04-12 2018-04-17 Fetch Robotics, Inc. System and method for determining and promoting safety of a robotic payload
DE102016209270A1 (de) * 2016-05-30 2017-11-30 Deere & Company Anordnung und Verfahren zur Überwachung und/oder Kontrolle des Fahrzustandes einer selbstfahrenden landwirtschaftlichen Arbeitsmaschine
DE102017201936A1 (de) * 2017-02-08 2018-08-09 Robert Bosch Gmbh Verfahren zur Reduzierung eines Kollisionsschadens
CN110435572A (zh) * 2018-05-03 2019-11-12 上海博泰悦臻网络技术服务有限公司 车辆、车机设备及其车载设备自动调节方法
US11648951B2 (en) 2018-10-29 2023-05-16 Motional Ad Llc Systems and methods for controlling actuators based on load characteristics and passenger comfort
GB2607172B (en) 2019-04-25 2023-11-01 Motional Ad Llc Graphical user interface for display of autonomous vehicle behaviors
US11472291B2 (en) 2019-04-25 2022-10-18 Motional Ad Llc Graphical user interface for display of autonomous vehicle behaviors
CN114819426B (zh) * 2022-07-01 2022-12-09 深圳市海清数字技术有限公司 货物装车方案确定方法、装置、设备及存储介质

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US5136513A (en) * 1990-06-11 1992-08-04 Ford Motor Company Vehicle inertia and center of gravity estimator
US6330501B1 (en) 1995-06-07 2001-12-11 Automotive Technologies International Inc. Methods for identifying and classifying objects in a vehicle and methods for adjusting a vehicle component incorporating the same
DE10065590A1 (de) 2000-12-28 2002-07-04 Bosch Gmbh Robert Anordnung und Verfahren zum Vermeiden von Überschlägen
DE10148091A1 (de) 2001-09-28 2003-04-17 Bayerische Motoren Werke Ag Verfahren zur Ermittlung der Masse eines Kraftfahrzeugs unter Berücksichtigung unterschiedlicher Fahrsituationen
US6879897B2 (en) 2002-10-19 2005-04-12 General Motors Corporation Method and system for achieving constant average impact deceleration independent of vehicle load
DE102004003718A1 (de) 2004-01-24 2005-08-11 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zum Auslösen eines Insassenschutzsystems
DE102004029374A1 (de) 2004-06-17 2006-01-05 Robert Bosch Gmbh Verfahren zur Bestimmung einer Auslöseentscheidung für Rückhaltemittel eines Kraftfahrzeuges
JP2006211818A (ja) 2005-01-27 2006-08-10 Nissan Motor Co Ltd 車両の回生制動制御装置
US7644799B2 (en) 2005-02-10 2010-01-12 Friedman Research Corporation Vehicle safety control system
US20060184299A1 (en) * 2005-02-11 2006-08-17 Ford Global Technologies, Llc System for determining rollover in a vehicle control system
US7561951B2 (en) 2005-05-06 2009-07-14 Ford Global Technologies Llc Occupant control system integrated with vehicle dynamics controls
JP2006335171A (ja) 2005-06-01 2006-12-14 Toyota Motor Corp 車輌の制駆動力制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022532823A (ja) * 2019-03-07 2022-07-20 ボルボトラックコーポレーション 車両の質量特性を決定する方法
JP7425802B2 (ja) 2019-03-07 2024-01-31 ボルボトラックコーポレーション 車両の質量特性を決定する方法
US12270697B2 (en) 2019-03-07 2025-04-08 Volvo Truck Corporation Method for determining a mass property of a vehicle

Also Published As

Publication number Publication date
US8694207B2 (en) 2014-04-08
EP2511149A3 (en) 2013-10-16
EP2511149B1 (en) 2015-08-26
EP2511149A2 (en) 2012-10-17
US20120265401A1 (en) 2012-10-18

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