JP2022533507A - 車両操作中の車両運動状態を推定する方法 - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60G17/0195—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 regulation being combined with other vehicle control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
- B60T2210/22—Banked curves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/06—Sensor zero-point adjustment; Offset compensation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/406—Test-mode; Self-diagnosis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/142—Heavy duty trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/143—Busses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/148—Semi-trailers, articulated vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
・車軸荷重(例えば、荷重が最も小さい、あるいは車両の安定性への影響が最も小さい車軸を選択する)、
・経路追従アルゴリズムにとって最も重要な位置にある車軸。
車両のレイアウトによっては、同じ車軸の2つの車輪を「自由回転」させる代わりに、車両の反対側の角(例えば、左前部と右後部)にある車輪を「自由回転」させた方が有利な場合がある。これにより、特にホイールベースの短いトラクタユニットの場合、より安定した制動状態が得られることがある。また、車両のホイールベースの長さの知識と組み合わせることで、より正確な位置推定が可能になる。例えば、カルマンフィルタ(Kalman filter)やパーティクルフィルタ(particle filter)において、車輪速度の情報は加速度計情報および/または角速度センサ情報と任意に融合させることができ、デッドレコニングの精度をさらに向上できる。
Claims (20)
- 車両(110、210)において車両操作中の車両運動状態を推定するための方法であって、
前記車両操作の開始を示すトリガ信号を取得すること(S1)と、
自由回転状態または制動が低減された状態とする前記車両の車輪のサブセットを選択すること(S2)と、
自由回転状態または制動が低減された状態にある車輪の前記サブセットの回転に関連する1つまたは複数のパラメータを測定すること(S5)と、
測定された前記パラメータに基づいて前記車両運動状態を推定すること(S6)と
を含む方法。 - 前記車両操作は、前記車両の最大減速能力未満での前記車両の制御された減速を必要とする安全停止操作である、請求項1に記載の方法。
- 前記車両操作は、センサ較正操作であり、該センサ較正操作によって前記車両の1つまたは複数のセンサシステムが推定された前記運動状態のデータに対して較正される、請求項1に記載の方法。
- 車輪の前記サブセットとして、選択された車軸(230)の車輪が選択される(S21)、請求項1~3のいずれか1つに記載の方法。
- 選択された前記車軸(230)は、前記車両の他の車軸と比較して垂直方向にかかる荷重が最も小さい車軸である、請求項4に記載の方法。
- 選択された前記車軸(230)は昇降可能な車軸であって、前記方法は、前記パラメータを測定する前に昇降可能な前記車軸を下降させること(S3)を含む、請求項4に記載の方法。
- 選択された前記車軸は、前記車両(110、210)の1つまたは複数の他の車軸と比較して回転慣性の低い車軸である、請求項4に記載の方法。
- 選択された前記車軸(230)についてサスペンション空気圧を量的に調整すること(S4)を含む、請求項4~7のいずれか1つに記載の方法。
- 車輪の前記サブセットは、前記車両の異なる車軸および前記車両の異なる側(240a、240b)から選択される(S22)、請求項1~3のいずれか1つに記載の方法。
- 車輪の前記サブセットに含まれる車輪は、車両の安定性に応じて選択され(S23)、それによって車輪の前記サブセットは操作シナリオに応じて車両の安定性に許容範囲の影響を与えるように選択される、請求項1~9のいずれか1つに記載の方法。
- 車輪の前記サブセットとして、1つの車輪が選択される(S24)、請求項1~3のいずれか1つに記載の方法。
- 前記車両運動状態は、グローバル位置座標または相対位置座標、車両の方位、車両の軌道曲率、車両の縦方向の速度、車両の縦方向の加速度および車両のヨーレートのいずれかを含む、請求項1~11のいずれか1つに記載の方法。
- 推定された運動状態および辿るべき好ましい操作軌道に基づいて前記操作を実行するように前記車両(110)を制御すること(S7)を含む、請求項1~12のいずれか1つに記載の方法。
- 前記操作のための好ましい減速値に対して動作状態における減速値を検証すること(S8)を含む、請求項1~13のいずれか1つに記載の方法。
- 測定された前記パラメータおよび前記車両に関して得られた加速度計データに基づいて、道路のバンクの度合および/または道路勾配を推定すること(S9)をさらに含む、請求項1~14のいずれか1つに記載の方法。
- 選択された自由回転状態にある前記車輪と制動力または加速力がかかる他の車輪との間の車輪回転特性を比較することによって路面摩擦係数を推定すること(S10)をさらに含む、請求項1~15のいずれか1つに記載の方法。
- コンピュータ上で実行する際に、請求項1~16のいずれか1つに記載のステップを実施するためのプログラムコード手段を含むコンピュータプログラム。
- コンピュータ上で実行する際に、請求項1~16のいずれか1つに記載のステップを実施するためのプログラムコード手段を含むコンピュータプログラムを保持するコンピュータ可読媒体。
- 請求項1~16のいずれか1つに記載の方法のステップを実行するように構成される、車両操作中の車両運動状態を推定するための制御ユニット。
- 請求項19に記載の制御ユニットを備える車両(110)。
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PCT/EP2019/055774 WO2020177873A1 (en) | 2019-03-07 | 2019-03-07 | A method for estimating vehicle motion state during a vehicle maneuver |
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JP7354272B2 JP7354272B2 (ja) | 2023-10-02 |
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US (1) | US20220176923A1 (ja) |
EP (1) | EP3934947B1 (ja) |
JP (1) | JP7354272B2 (ja) |
KR (1) | KR102590005B1 (ja) |
CN (1) | CN113518737B (ja) |
WO (1) | WO2020177873A1 (ja) |
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- 2019-03-07 KR KR1020217030029A patent/KR102590005B1/ko active IP Right Grant
- 2019-03-07 WO PCT/EP2019/055774 patent/WO2020177873A1/en unknown
- 2019-03-07 JP JP2021552955A patent/JP7354272B2/ja active Active
- 2019-03-07 CN CN201980093384.7A patent/CN113518737B/zh active Active
- 2019-03-07 EP EP19711039.8A patent/EP3934947B1/en active Active
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JPH0769016A (ja) * | 1993-04-22 | 1995-03-14 | Selectiebedrijf Kooi Bv | 道路滑り抵抗の検出方法及び道路滑り抵抗検出器を備える車両 |
JP2006327242A (ja) * | 2005-05-23 | 2006-12-07 | Equos Research Co Ltd | 対地速度測定装置及び車両 |
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JP2016060219A (ja) * | 2014-09-12 | 2016-04-25 | アイシン精機株式会社 | 車両位置検出装置 |
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KR102590005B1 (ko) | 2023-10-17 |
EP3934947A1 (en) | 2022-01-12 |
JP7354272B2 (ja) | 2023-10-02 |
CN113518737B (zh) | 2024-01-16 |
CN113518737A (zh) | 2021-10-19 |
KR20210135526A (ko) | 2021-11-15 |
EP3934947C0 (en) | 2023-06-07 |
US20220176923A1 (en) | 2022-06-09 |
EP3934947B1 (en) | 2023-06-07 |
WO2020177873A1 (en) | 2020-09-10 |
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