JP2019515823A - 自動二輪車のロール角を測定するための方法 - Google Patents
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Abstract
Description
エンジン回転速度、エンジントルク、操舵角、車速度v、車両加速度、車輪速度ωI、車道の状態、車輪スリップ、車両負荷、車道の傾斜等に基づいて評価される。このとき、この評価は、ロール角λEの計算26に算入される。
a.ヨーレート
b.ロールレート
c.縦加速度、横加速度及び垂直加速度
d.車速度
好ましくは、測定システムの傾斜に起因する複数の角速度間の交差効果が、当該慣性計測に基づいて排除される。
2 自動二輪車
3 タイヤ
4 垂線
5 対称軸、対称面
6 直線(SPとRAPとを結ぶ接続線)
7 センサ
8 センサ又はセンサ群
10 積分
11 高域通過フィルタ
12 積
13 関数
14 低域通過フィルタ
15 ブロック
25 低域通過フィルタ
27 現在の走行状態
30 積分
31 高域通過フィルタ
33 低域通過フィルタ
35 低域通過フィルタ
83 第1高域通過フィルタ
84 第1低域通過フィルタ
85 第2低域通過フィルタ
86 第2高域通過フィルタ
87 第3高域通過フィルタ
88 第3低域通過フィルタ
89 第1結合器
90 第2結合器
91 第3結合器
93 積分器
SP 重心
RAP 車輪接触点又は車輪接触線
v 速度
c 実験的因子
Claims (15)
- 車両のロール角(λE)を算定するための方法において、
前記ロール角(λE)が、少なくとも第1ロール角変数(λ1)と第2ロール角変数(λ2)との組み合わせとして計算され、
前記第1ロール角変数(λ1)が、第1方法を使用して前記車両の取得されたロールレート(λ・ m)から算定され、
前記第2ロール角変数(λ2)が、第2方法を使用して1つ以上のさらなる車両走行動特性変数から算定される当該方法。 - 前記組み合わせは、複数のレベルから成り、
それぞれのレベルが、少なくとも1つのフィルタリングステップと少なくとも1つの組み合わせステップとを有することを特徴とする請求項1に記載の方法。 - 複数のレベルの数は、x個であり、
y番目のレベルが、2x−y+1個のフィルタリングステップと2x−y個の組み合わせステップとを有し、
レベルyの出力は、レベルy+1の入力であり、
特にy番目のレベル2x−yでは、複数の遮断周波数が適用されることを特徴とする請求項1〜2のいずれか1項に記載の方法。 - 前記第1ロール角変数(λ1)は、前記第2ロール角変数(λ2)とは異なる特性を有することを特徴とする請求項1〜3のいずれか1項に記載の方法。
- 前記第2ロール角変数(λ2)は、
−前記車両のヨーレート及び車速度、及び/又は
−前記車両の横加速度及び垂直加速度
から算定されることを特徴とする請求項1〜4のいずれか1項に記載の方法。 - 測定システムの傾斜に起因する複数の角速度間の交差効果が、前記慣性計測に基づいて排除されることを特徴とする請求項1〜5のいずれか1項に記載の方法。
- 前記ロール角変数の複数の算定方法のうちの1つの算定方法が、ロールレートのオフセット効果を排除するためにリセット可能な積分器をリセット可能な高域通過フィルタと組み合わせて適応することを特徴とする請求項1〜6のいずれか1項に記載の方法。
- 前記第1方法は、前記第1ロール角変数(λ1)を算定するために積分器を適用し、
前記積分器の出力が、既定の閾値に達した直後に、前記積分器及び後続するフィルタ、特に直接に後続する高域通過フィルタが、ほぼ同時にリセットされることを特徴とする請求項7に記載の方法。 - 垂直方向の遠心加速度に基づく計算の精度を向上させるため、前記ロール角変数の複数の算定方法のうちの1つの算定方法が、補正方法を使用していることを特徴とする請求項1〜8のいずれか1項に記載の方法。
- 横加速度とロールレートとに共通の効果に基づく計算の精度を向上させるため、前記ロール角変数の複数の算定方法のうちの1つの算定方法が、補正方法を使用していることを特徴とする請求項1〜9のいずれか1項に記載の方法。
- −少なくとも前記第1方法が、速く変化するロール角値に対して特に高い精度でロール角値を提供し、
−少なくとも前記第2方法が、安定なロール角値に対して特に高い精度でロール角値を提供し、
前記組み合わせが、周波数領域で実行されることを特徴とする請求項1〜10のいずれか1項に記載の方法。 - 前記第1方法の前記ロール角変数の高い周波数の振幅が、前記第2方法の前記ロール角変数の高い周波数の振幅よりも高く重み付けされ、
前記第2方法の前記ロール角変数の低い周波数の振幅が、前記第1方法の前記ロール角変数の低い周波数の振幅よりも高く重み付けされ、
中間の周波数の振幅が、同様に重み付けされることを特徴とする請求項1〜11のいずれか1項に記載の方法。 - 第1遮断周波数によって高域通過フィルタリングされる第1方法のロール角変数と、基本的に前記第1遮断周波数によって低域通過フィルタリングされる第2方法のロール角変数とを組み合わせる第1の組み合わせと、
第2遮断周波数によって高域通過フィルタリングされる前記第1方法のロール角変数と、基本的に前記第2遮断周波数によって低域通過フィルタリングされる前記第2方法のロール角変数とを組み合わせる第2の組み合わせと、
第3遮断周波数によって低域通過フィルタリングされる前記第1の組み合わせのロール角変数結果と、基本的に前記第3遮断周波数によって高域通過フィルタリングされる前記第2の組み合わせのロール角変数結果とを組み合わせる第3の組み合わせと、が提供され、
前記第1遮断周波数と前記第2遮断周波数と前記第3遮断周波数とは相違することを特徴とする請求項1〜12のいずれか1項に記載の方法。 - 前記第3遮断周波数は、前記第1遮断周波数と前記第2遮断周波数との間にあることを特徴とする請求項13に記載の方法。
- 車両のロール角(λE)を算定するための装置において、
組み合わせ回路が、少なくとも第1ロール角変数(λ1)と第2ロール角変数(λ2)とを組み合わせ、ロール角(λE)を算定するために使用され、
この場合に、前記第1ロール角変数(λ1)が、前記車両の取得されたロールレート(λ・ m)から算定され、前記第2ロール角変数(λ2)が、少なくとも1つの車両走行動特性変数を使用して算定される当該装置。
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CN109070898B (zh) | 2022-01-25 |
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US20200339877A1 (en) | 2020-10-29 |
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US11414089B2 (en) | 2022-08-16 |
US11248169B2 (en) | 2022-02-15 |
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