JP2019219214A - Device and method for estimation - Google Patents

Abstract

To provide a device and a method for estimation which can estimate a precise total weight of a vehicle.SOLUTION: The estimation device according to an embodiment includes an acquisition unit and an estimation unit. The acquisition unit acquires an actual output torque of an actuator in a case where the vehicle is inclined to a predetermined inclination angle by the actuator for inclining the vehicle to the width direction of the vehicle. The estimation unit estimates the total weight of the vehicle on the basis of the output torque acquired by the acquisition unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an estimation device and an estimation method.

  2. Description of the Related Art Conventionally, for example, a control device that controls an actuator that inclines a vehicle in a vehicle width direction during a turn or the like has been known (for example, see Patent Literature 1).

JP 2010-247804 A

  By the way, in the above-described control device, it is necessary to control the actuator in consideration of the total weight of the vehicle due to the characteristic that the vehicle runs while leaning. However, the prior art does not consider accurately estimating the total weight of the vehicle.

  For example, if the gross weight of the vehicle is a fixed value, there may be a deviation from the fixed value due to uncertain factors such as the weight of the occupant and the load, and the deviation may cause, for example, vehicle responsiveness (drivability). May decrease.

  The present invention has been made in view of the above, and an object of the present invention is to provide an estimating apparatus and an estimating method capable of estimating the total weight of a vehicle with high accuracy.

  In order to solve the above-described problem and achieve the object, an estimation device according to the present invention includes an acquisition unit and an estimation unit. The acquisition unit acquires an actual output torque of the actuator when the vehicle is tilted to a predetermined tilt angle by an actuator that tilts the vehicle in a vehicle width direction. The estimating unit estimates the total weight of the vehicle based on the output torque acquired by the acquiring unit.

  According to the present invention, the total weight of the vehicle can be estimated with high accuracy.

FIG. 1 is a diagram illustrating an outline of an estimation method according to the embodiment. FIG. 2 is a block diagram illustrating a configuration of the estimation device according to the embodiment. FIG. 3 is a diagram illustrating the processing content of the estimation unit. FIG. 4 is a diagram illustrating the processing content of the estimation unit. FIG. 5 is a flowchart illustrating a processing procedure of an overall process performed by the estimation device according to the embodiment. FIG. 6 is a flowchart illustrating a processing procedure of an estimation process performed by the estimation unit according to the embodiment. FIG. 7 is a diagram illustrating the processing content of the estimation unit according to the modification.

  Hereinafter, an embodiment of an estimation device and an estimation method disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited by the embodiments described below. In the following, as an example of a vehicle on which the estimation device is mounted, an electric vehicle in which a driving wheel is rotated by a motor will be described as an example. However, the vehicle may be a hybrid vehicle whose power source is electricity and gasoline, The vehicle may be powered only by gasoline.

  First, an overview of an estimation method according to the embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating an outline of an estimation method according to the embodiment. FIG. 1 shows a front view of the vehicle C. As shown in FIG. 1, the vehicle C is, for example, a three-wheeled single-seat mobility having two front wheels arranged in front of the vehicle and one rear wheel arranged behind the vehicle. The vehicle C may be, for example, a three-wheeled vehicle having one front wheel and two rear wheels, or a four-wheeled vehicle having two front wheels and two rear wheels.

  Further, the vehicle C has a lean actuator 100 (hereinafter, lean ACT 100) that can tilt the vehicle body in the vehicle width direction. For example, the estimating apparatus 1 rotates the lean ACT 100 at the time of turning so that the lean mechanism 110 connected to each of the front wheels operates to incline and turn the vehicle body.

  By the way, since the lean ACT is affected by the total weight of the vehicle due to the characteristics of running while leaning the vehicle, it is desirable that the lean ACT be controlled based on an accurate total weight. The gross weight refers to the weight of the entire vehicle including the body weight, the weight of the occupant (sum of the occupants in the case of a plurality of persons), the weight of the load, and the like. However, the prior art does not consider accurately estimating the total weight of the vehicle.

  If the gross weight of the vehicle is a fixed value, there may be a difference between the fixed value and the gross weight due to uncertain factors such as the weight of the occupant and the load amount. (Drivability) and the like may be reduced. Such a divergence occurs remarkably in a relatively lightweight vehicle such as the single-seater small mobility described above.

  Therefore, in the estimation method according to the embodiment, the total weight of the vehicle C is estimated based on the output torque of the lean ACT 100. Specifically, the estimating apparatus 1 according to the embodiment first causes the vehicle C to incline to a predetermined inclination angle θ by the lean ACT 100 (step S1).

  Subsequently, the estimating apparatus 1 according to the embodiment acquires the actual output torque of the lean ACT 100 when the vehicle C is tilted to a predetermined tilt angle θ (Step S2). The output torque is a torque actually output to tilt the vehicle C to the tilt angle θ, and is a torque according to the total weight of the vehicle C. Then, the estimation device 1 according to the embodiment estimates the total weight of the vehicle C based on the obtained output torque (Step S3).

  That is, the output torque is a torque obtained by correcting the reference value of the torque for inclining the vehicle C to the inclination angle θ assuming the reference weight based on the difference between the actual total weight of the vehicle C and the reference weight. It can be said that That is, the estimation device 1 according to the embodiment estimates the actual total weight of the vehicle C based on the degree of deviation between the corrected torque and the reference value. Thereby, the total weight of the vehicle C can be estimated with high accuracy.

  Note that the estimation method according to the embodiment is preferably performed, for example, in a state where the vehicle C is stopped. The estimation method according to the embodiment is preferably performed, for example, during a period from when the ignition of the vehicle C is turned on to when the vehicle C starts moving, or while the vehicle C is temporarily stopped by a signal or the like.

  Further, in the estimation method according to the embodiment, the final determined value of the total weight can be calculated based on the two total weights obtained by inclining the vehicle C to both sides in the vehicle width direction. It will be described later.

  Next, the configuration of the estimation device 1 according to the embodiment will be described with reference to FIG. FIG. 2 is a block diagram illustrating a configuration of the estimation device 1 according to the embodiment. As shown in FIG. 2, the estimation device 1 according to the embodiment is connected to a lean ACT 100, a gyro sensor 10, a torque sensor 11, and a vehicle control device 12.

  The gyro sensor 10 detects angular velocities of the vehicle C in three axes. These three axes are, for example, the front-back direction, the left-right direction, and the up-down direction of the vehicle C.

  The torque sensor 11 detects a torque (output torque) actually output by the lean ACT 100.

  The vehicle control device 12 performs vehicle control such as PCS (Pre-crash Safety System) and AEB (Advanced Emergency Braking System) based on the estimation result of the total weight of the vehicle C by the estimation device 1. Further, the vehicle control device 12 controls the lean ACT 100 and the like based on the total weight estimated by the estimation device 1.

  As illustrated in FIG. 2, the estimation device 1 according to the embodiment includes a control unit 2 and a storage unit 3. The control unit 2 includes an instruction unit 21, an acquisition unit 22, and an estimation unit 23.

  Here, the estimating apparatus 1 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), a data flash, an input / output port, and the like. Circuit.

  The CPU of the computer functions as the instruction unit 21, the acquisition unit 22, and the estimation unit 23 of the control unit 2, for example, by reading and executing a program stored in the ROM.

  Further, at least one or all of the instruction unit 21, the acquisition unit 22, and the estimation unit 23 of the control unit 2 may be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). it can.

  The storage unit 3 corresponds to, for example, a RAM, an HDD, and a data flash. The RAM, the HDD, and the data flash can store information of various programs that execute the estimation method and the like. Note that the estimation device 1 may acquire the above-described programs and various information via another computer or a portable recording medium connected via a wired or wireless network.

  The control unit 2 obtains the actual output torque of the lean ACT 100 when the lean ACT 100 tilts the vehicle C to a predetermined tilt angle θ, and estimates the total weight of the vehicle C based on the obtained output torque.

  The instruction unit 21 instructs the lean ACT 100 to incline the vehicle C. The tilt instruction includes information on the tilt angle θ. Accordingly, lean ACT 100 causes vehicle C to incline by being rotationally driven based on the incline instruction. In addition, it is preferable that the inclination angle θ is an angle (for example, 5 degrees) that does not give an uncomfortable feeling to the occupant of the vehicle C.

  The instruction timing of the inclination instruction by the instruction unit 21 is, for example, when the vehicle C is stopped. In other words, it is preferable that the instruction timing of the inclination instruction is such that the output unit 22 of the subsequent stage acquires the output torque of the lean ACT 100 in a state where the vehicle C is stopped. Accordingly, it is not necessary to consider the traveling state (speed component, turning component, and the like) of the vehicle C in the estimation process of the total weight by the estimation unit 23 described later, so that the calculation amount of the estimation process can be reduced.

  Further, the instruction unit 21 may determine whether or not to execute the tilt instruction based on whether or not the vehicle C is stopped on a horizontal plane or whether or not the occupant wears a seat belt. Specifically, the instructing unit 21 issues a tilt instruction when the detection value of the gyro sensor 10 of the vehicle C acquired by the acquisition unit 22 is within a predetermined value (when the horizontal state is set to zero). As a result, the estimation process by the estimation unit 23 at the subsequent stage can be performed more accurately.

  In addition, the instruction unit 21 issues a tilt instruction when receiving an ON signal indicating that the occupant of the vehicle C wears the seat belt. Thereby, the safety of the occupant in the process of estimating the total weight can be improved.

  In addition, when a difference occurs between the actual inclination angle detected by the gyro sensor 10 and the inclination angle θ of the inclination instruction, the instruction unit 21 sets the actual inclination angle with respect to the lean ACT 100 to the inclination angle θ of the inclination instruction. A correction instruction for performing correction is made. The above-described deviation occurs when there is a difference between the total weight serving as a reference in the control of the lean ACT 100 (hereinafter, reference weight) and the actual total weight of the vehicle C.

  Further, the instruction unit 21 is not limited to the case where the tilt instruction is automatically performed when the vehicle C is stopped as described above. For example, the instruction unit 21 may trigger the manual operation (for example, pressing a button) of the occupant of the vehicle C to trigger the tilt instruction. May go.

  In addition, when the above-described deviation does not occur between the actual inclination angle and the inclination angle θ of the inclination instruction, the instruction unit 21 issues a prohibition instruction to the acquisition unit 22 to prohibit the output torque acquisition processing. That is, since the reference weight is the same as the actual total weight of the vehicle C, the instruction unit 21 issues a prohibition instruction. In such a case, the later-described estimating unit 23 outputs the estimation result of the reference weight as the total weight of the vehicle C to the vehicle control device 12.

  The obtaining unit 22 obtains the actual output torque of the lean ACT 100 when the lean ACT 100 tilts the vehicle C to a predetermined tilt angle θ. For example, the acquisition unit 22 acquires the torque detected by the torque sensor 11 as an output torque. Further, as described above, the acquisition timing of the output torque by the acquisition unit 22 is a case where a difference occurs between the inclination angle θ of the inclination instruction by the instruction unit 21 and the actual inclination angle. The acquisition unit 22 outputs the acquired output torque to the estimation unit 23. The acquisition unit 22 acquires a detection value of the gyro sensor 10 and outputs the acquired value to the instruction unit 21.

  Note that the acquisition unit 22 has acquired the output torque of the lean ACT 100 based on the lean instruction of the instruction unit 21, but may acquire the output torque of the lean ACT 100 other than the lean instruction of the instruction unit 21.

  For example, the acquisition unit 22 may acquire the output torque of the lean ACT 100 when the vehicle C turns. In such a case, an estimating unit 23 described later performs a total weight estimating process in consideration of a speed component, a turning component, and the like of the vehicle C.

  The estimating unit 23 estimates the total weight of the vehicle C based on the output torque acquired by the acquiring unit 22. Here, the processing contents of the estimation unit 23 will be described with reference to FIGS. FIG. 3 and FIG. 4 are diagrams illustrating the processing contents of the estimation unit 23.

  3 and 4 show a case where the center of gravity G of the vehicle C and the position of the lean ACT 100 are the same. The case where the center of gravity G of the vehicle C is different from the position of the lean ACT 100 will be described later with reference to FIG.

  As shown in FIG. 3, the output torque T acquired by the acquisition unit 22 is a torque in the inclined rotation direction with the position of the lean ACT 100 as a generation position. When the total weight of the vehicle C is m and the gravitational acceleration is g, the gravity in the vehicle C inclined at a predetermined inclination angle θ is expressed in mg with the center of gravity G as a starting point.

  Further, when a predetermined inclination angle θ is set, the moment Ma in the horizontal direction of the vehicle C (the moment Ma in the inclination rotation direction) starting from the position of the lean ACT 100 is the height h from the action point AP to the center of gravity G. Then, Ma = ha × (mg × sin θ).

  The moment Mb in the vertical direction of the vehicle C starting from the position of the lean ACT 100 (the moment Mb in a direction opposite to the tilt rotation direction) is defined as Mb = Mb = width w from the action point AP to the center of gravity G. w × (mg × cos θ).

  Then, the output torque T is a value in which the sum with the moment Ma is balanced with the moment Mb. Specifically, since the output torque T is output so that the moment Ma and the moment Mb have the same value, the vehicle C can maintain the inclination angle θ, and thus can be expressed by the following equation.

  That is, assuming that the height from the action point AP to the center of gravity G is ht, it is expressed by T × ht + Ma = Mb. Then, when Ma = ha × (mg × sin θ) and Mb = w × (mg × cos θ) are substituted into the above equation, m which is the total weight is expressed as follows. That is, m = −T × ht / (sin θ · h−cos θ · w) /9.8. Note that ht is the same value as h. Thus, the estimating unit 23 can estimate the total weight of the vehicle C.

  It is preferable that the predetermined inclination angle θ is set so that the moment Mb is larger than the moment Ma. That is, the instruction unit 21 instructs the limitation of the output torque T so that the output torque T is inclined at the inclination angle θ at which the moment Mb is larger than the moment Ma.

  As a result, even if the output torque T becomes zero, the moment Cb is larger than the moment Ma, so that the vehicle C can be prevented from falling in the inclined rotation direction.

  When the estimated total weight is out of the predetermined reference range, the estimating unit 23 displays, for example, a warning to an occupant of the vehicle C, and restricts the vehicle control device 12 from running the vehicle C. To instruct.

  The predetermined reference range is, for example, a range of weight in which the lean ACT 100 can tilt. Further, as a method of restricting the traveling of the vehicle C, the vehicle C may be stopped, or the maximum inclination angle of the inclination angle θ may be restricted.

  When the estimated total weight is within a predetermined threshold, the estimating unit 23 instructs the vehicle control device 12 to perform vehicle control based on the total weight.

  As shown in FIG. 4, the estimation unit 23 determines the total weight based on the total weight estimated when the vehicle C is tilted to both sides in the vehicle width direction and tilted in the respective tilt rotation directions. The value may be calculated.

  Specifically, as shown in FIG. 4, the estimating unit 23 first calculates the first output torque Ta based on the case where the vehicle C is inclined to one side of the both sides in the vehicle width direction by the inclination angle θa. To estimate the first total weight. Subsequently, the estimating unit 23 estimates the second total weight based on the second output torque Tb when tilted to the other side by the tilt angle θb.

  Then, the estimation unit 23 calculates a final value of the total weight based on the first total weight and the second total weight. The final value may be, for example, an average of the first total weight and the second total weight, or one of the total weights may be used as the final value. As described above, by calculating the fixed value based on the first gross weight and the second gross weight, the gross weight can be estimated with higher accuracy.

  In addition, for example, when the difference between the first gross weight and the second gross weight is equal to or greater than a predetermined threshold, the estimating unit 23 prohibits the process of calculating the final value. Then, in such a case, the estimation unit 23 instructs the vehicle control device 12 to perform the vehicle control based on the reference weight. Thereby, it is possible to prevent the calculation of an incorrect total weight as the estimation result.

  Next, the processing procedure of the overall processing executed by the estimation device 1 according to the embodiment will be described with reference to FIG. FIG. 5 is a flowchart illustrating a processing procedure of an overall process performed by the estimation device 1 according to the embodiment.

  As shown in FIG. 5, first, the instruction unit 21 detects that the ignition of the vehicle C is turned on (step S101). Subsequently, the instruction unit 21 determines whether or not the occupant of the vehicle C has turned on the seat belt (step S102).

  When the seat belt is turned on (Step S102, Yes), the instruction unit 21 determines whether or not the vehicle C is stopped on a horizontal surface (Step S103). When the vehicle C is stopped on the horizontal plane (Step S103, Yes), the instructing unit 21 inclines the vehicle C to a predetermined inclination angle θ, and the acquiring unit 22 causes the actual output torque of the lean ACT 100 in such a case. Is acquired (step S104).

  Subsequently, the estimation unit 23 estimates the total weight of the vehicle C based on the output torque acquired by the acquisition unit 22 (Step S105), and ends the processing.

  On the other hand, in step S102, when the seat belt is not turned on (step S102, No), the instruction unit 21 ends the process. In addition, in Step S103, when the vehicle C is not stopped on the horizontal plane (Step S103, No), the instruction unit 21 ends the process.

  Next, a processing procedure of an estimation process performed by the estimation unit 23 will be described with reference to FIG. FIG. 6 is a flowchart illustrating a processing procedure of an estimation process performed by the estimation unit 23 according to the embodiment.

  As shown in FIG. 6, first, the estimation unit 23 estimates a first gross weight based on a first output torque when the vehicle is tilted to one of the two sides in the vehicle width direction (step S201). . Subsequently, the estimating unit 23 estimates the second total weight based on the second output torque when the vehicle is tilted to the other side (step S202).

  Subsequently, the estimating unit 23 determines whether the difference between the first gross weight and the second gross weight is less than a predetermined threshold (Step S203). When the difference between the gross weights is less than the predetermined threshold value (step S203, Yes), the estimating unit 23 calculates the final value based on the first gross weight and the second gross weight (step S204).

  Subsequently, the estimating unit 23 determines whether the calculated final value is within a predetermined reference range (Step S205). When the determined value is within the predetermined reference range (step S205, Yes), the estimating unit 23 instructs vehicle control based on the determined value (step S206), and ends the process.

  On the other hand, in step S203, when the difference in the total weight is equal to or greater than the predetermined threshold (step S203, No), the estimation unit 23 prohibits the calculation process of the final value and issues a warning to the occupant of the vehicle C. Perform (step S207). Subsequently, the estimating unit 23 instructs vehicle control based on the reference weight (step S208), and ends the processing.

  Further, in step S205, when the determined value is out of the reference range (step S205, No), the estimation unit 23 shifts the processing to step S207.

  As described above, the estimation device 1 according to the embodiment includes the acquisition unit 22 and the estimation unit 23. The acquisition unit 22 acquires the actual output torque of the lean ACT 100 when the vehicle C is inclined to a predetermined inclination angle θ by the lean ACT 100 (an example of an actuator) that inclines the vehicle C in the vehicle width direction. The estimating unit 23 estimates the total weight of the vehicle C based on the output torque acquired by the acquiring unit 22. Thereby, the total weight of the vehicle C can be estimated with high accuracy.

  In the above-described embodiment, the case has been described where the center of gravity G of the vehicle C and the position of the lean ACT 100 are at the same height, but the center of gravity G of the vehicle C and the position of the lean ACT 100 may be different. This will be described with reference to FIG.

  FIG. 7 is a diagram illustrating the processing content of the estimation unit 23 according to the modification. In FIG. 7, it is assumed that the center of gravity G is higher than the lean ACT 100. In such a case, the above-mentioned total weight m is represented as follows.

  That is, m = −T × ht / (sin θ · h−cos θ · w) /9.8. Note that ht is a value different from h. That is, the estimation unit 23 can estimate the total weight of the vehicle C with high accuracy even when the center of gravity G and the position of the lean ACT 100 are different.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

REFERENCE SIGNS LIST 1 estimation device 2 control unit 3 storage unit 10 gyro sensor 11 torque sensor 12 vehicle control device 21 instruction unit 22 acquisition unit 23 estimation unit 100 lean ACT
110 lean mechanism

Claims (6)

An acquisition unit that acquires an actual output torque of the actuator when the vehicle is tilted to a predetermined tilt angle by an actuator that tilts the vehicle in a vehicle width direction;
An estimating unit that estimates the total weight of the vehicle based on the output torque acquired by the acquiring unit. The acquisition unit,
The estimation device according to claim 1, wherein the output torque in a state where the vehicle is stopped is acquired. The acquisition unit,
Among the two sides in the vehicle width direction of the vehicle, the first output torque when inclined to one side and the second output torque when inclined to the other side are obtained,
The estimating unit,
Calculating a final value of the total weight based on the first total weight estimated based on the first output torque and the second total weight estimated based on the second output torque; The estimating device according to claim 1, wherein: The estimating unit,
The estimating apparatus according to claim 3, wherein when the difference between the first gross weight and the second gross weight is equal to or greater than a predetermined threshold, the process of calculating the confirmed value is prohibited. The output torque is:
The sum of the first moment in the tilt rotation direction and the second moment in the reverse rotation direction opposite to the tilt rotation direction is a value,
5. The apparatus according to claim 1, further comprising an instruction unit configured to instruct the output torque to be inclined at the inclination angle at which the second moment is larger than the first moment. 6. The estimating device according to any one of the above. An obtaining step of obtaining an actual output torque of the actuator when the vehicle is tilted to a predetermined tilt angle by an actuator that tilts the vehicle in a vehicle width direction;
An estimating step of estimating a total weight of the vehicle based on the output torque acquired in the acquiring step.

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