JP2022541876A - 車両動力学に関連付けされたモデルを検証するための方法 - Google Patents
車両動力学に関連付けされたモデルを検証するための方法 Download PDFInfo
- Publication number
- JP2022541876A JP2022541876A JP2021572903A JP2021572903A JP2022541876A JP 2022541876 A JP2022541876 A JP 2022541876A JP 2021572903 A JP2021572903 A JP 2021572903A JP 2021572903 A JP2021572903 A JP 2021572903A JP 2022541876 A JP2022541876 A JP 2022541876A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- wheel slip
- wheel
- tire
- vehicle dynamics
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- 230000008901 benefit Effects 0.000 description 8
- 230000006399 behavior Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000010200 validation analysis Methods 0.000 description 4
- 230000000386 athletic effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
-
- 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
- B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
-
- 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
- B60T2270/86—Optimizing braking by using ESP vehicle or tire model
-
- 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
- B60W2520/10—Longitudinal 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/263—Slip values between front and rear axle
-
- 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
- B60W2520/26—Wheel slip
- B60W2520/266—Slip values between left and right wheel
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Fy=-Cysyt
としてモデル化でき、ここでCyは、定数である。この定数は、コーナリング剛性と呼ばれることもあり、図2Bおよび図2Cに関連して上述した、例えば、車輪スリップおよび法線力Fzに依存する。横力Fyは、Fz*μを超えることはない。ここでμは、摩擦係数である。1つまたは複数の駆動車軸上の軸重は、どのように車両が加速できるかを決定する際に、特に重要である。駆動車軸における軸重の低さは、多くの場合、車輪がよりスリップしやすいことを意味する。
Fy=-Cy(1-sx)tanα
Claims (20)
- 自律運転での使用のための車両動力学モデルを検証するための方法であって、
少なくとも1つの車両トルクデバイス(13、14)の動作に車輪スリップ限界を設定するステップ(S2)と、
前記設定車輪スリップ限界に基づいて、車両動力学に関連付けされたモデルを取得するステップ(S4)と、
前記設定車輪スリップ限界に基づいて、前記車両動力学モデルを検証するステップ(S5)と
を含む方法。 - 前記少なくとも1つの車両トルクデバイスは、ブレーキ装置(13)を含む、請求項1に記載の方法。
- 前記少なくとも1つの車両トルクデバイスは、推進装置(14)を含む、請求項1に記載の方法。
- 前記少なくとも1つの車両トルクデバイス(13、14)の前記動作に対し、車輪スリップ制御バンド幅要件または立上り時間要件を設定するステップ(S3)を含む、請求項1から3のいずれか1項に記載の方法。
- 前記車輪スリップ限界は、路面摩擦状態または路面摩擦係数μに依存して構成される、請求項1から6のいずれか1項に記載の方法。
- 前記車輪スリップ限界は、容認できる車輪スリップ値の範囲と、要求車輪スリップ制御精度を示す許容値とを含む、請求項1から7のいずれか1項に記載の方法。
- 前記車両動力学モデルは、横操舵能力を含む、請求項1から8のいずれか1項に記載の方法。
- 前記車両動力学モデルは、前記車両に作用する横タイヤ力Fyをモデル化する、請求項1から9のいずれか1項に記載の方法。
- 前記車両動力学モデルは、前記車両に関連付けされたコーナリング剛性値を含む、請求項1から10のいずれか1項に記載の方法。
- 前記検証した車両動力学モデルに対応する1つまたは複数のモデル能力を交通状況管理ユニットに伝達するステップ(S6)を含む、請求項1から11のいずれか1項に記載の方法。
- 前記車両動力学モデルは、車両動力学の明確なモデルである、請求項1から12のいずれか1項に記載の方法。
- 前記車両動力学モデルは、タイヤおよび/またはトルクデバイスの摩耗影響を考慮するように構成される、請求項1から13のいずれか1項に記載の方法。
- 前記車両動力学モデルは、前記車両の軸重および/または軸重分布を考慮するように構成される、請求項1から14のいずれか1項に記載の方法。
- 前記車輪スリップ限界に準拠するかを決定して前記車両トルクデバイスを認証するステップ(S1)を含む、請求項1から15のいずれか1項に記載の方法。
- プログラムコード手段を含むコンピュータプログラム(1020)であって、コンピュータで、または制御ユニット(12)の処理回路(910)で前記プログラムが実行されるときに、請求項1から16のいずれか1項に記載のステップを実行する、コンピュータプログラム(1020)。
- プログラムコード手段を含むコンピュータプログラム(1020)を担持するコンピュータ読み取り可能な媒体(910)であって、コンピュータで、または制御ユニット(12)の処理回路(910)で前記プログラム製品が実行されるときに、請求項1から16のいずれか1項に記載のステップを実行する、コンピュータ読み取り可能な媒体(910)。
- 自律運転での使用のための車両動力学モデルを検証するように構成された制御ユニット(12)であって、前記制御ユニット(12)は請求項1から16のいずれか1項に記載の方法のステップを実行するように構成される、制御ユニット(12)。
- 請求項19に記載の制御ユニット(12)を備える、車両(1)。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2019/065739 WO2020249239A1 (en) | 2019-06-14 | 2019-06-14 | A method for validating a model associated with vehicle dynamics |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2022541876A true JP2022541876A (ja) | 2022-09-28 |
Family
ID=67262264
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021572903A Pending JP2022541876A (ja) | 2019-06-14 | 2019-06-14 | 車両動力学に関連付けされたモデルを検証するための方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220306117A1 (ja) |
EP (1) | EP3983270B1 (ja) |
JP (1) | JP2022541876A (ja) |
CN (1) | CN114007911A (ja) |
WO (1) | WO2020249239A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111368424B (zh) * | 2020-03-03 | 2023-09-01 | 阿波罗智能技术(北京)有限公司 | 一种车辆仿真方法、装置、设备及介质 |
KR20230154426A (ko) * | 2021-03-04 | 2023-11-08 | 볼보 트럭 코퍼레이션 | 제어 인벨로프 기반 차량 모션 관리 |
KR20230162673A (ko) * | 2021-03-30 | 2023-11-28 | 볼보 트럭 코퍼레이션 | 차량 휠의 슬립 한계값을 결정하는 방법 |
WO2022228653A1 (en) * | 2021-04-26 | 2022-11-03 | Volvo Truck Corporation | Vehicle control based on dynamically configured longitudinal wheel slip limits |
US11845444B2 (en) * | 2021-09-01 | 2023-12-19 | GM Global Technology Operations LLC | System and method for performing advanced driver-assistance functions including adaptively accounting for impact of different payload or trailer configurations |
US20230347909A1 (en) * | 2022-04-28 | 2023-11-02 | Toyota Research Institute, Inc. | Low speed cornering stiffness derate using a dynamic vehicle model |
CN116522509B (zh) * | 2023-06-25 | 2023-10-31 | 江铃汽车股份有限公司 | 一种车辆模块布置方法、系统、计算机及可读存储介质 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03128770A (ja) * | 1989-10-13 | 1991-05-31 | Nissan Motor Co Ltd | 車両舵角制御装置 |
JPH05176580A (ja) * | 1991-10-15 | 1993-07-13 | Hitachi Ltd | モータの制御装置 |
JPH0669800U (ja) * | 1993-03-15 | 1994-09-30 | 株式会社明電舎 | シャシダイナモメータ |
JPH07117656A (ja) * | 1993-10-20 | 1995-05-09 | Mitsubishi Electric Corp | ブレーキ制御装置及びブレーキ制御用センサ |
JPH10226347A (ja) * | 1997-02-12 | 1998-08-25 | Honda Motor Co Ltd | 車両の操舵装置 |
JP2001334922A (ja) * | 2000-05-29 | 2001-12-04 | Toyota Central Res & Dev Lab Inc | ブレーキ制御装置 |
JP2009214753A (ja) * | 2008-03-11 | 2009-09-24 | Nissan Motor Co Ltd | 車両走行状態推定装置 |
JP2010276446A (ja) * | 2009-05-28 | 2010-12-09 | Bridgestone Corp | 制動シミュレーション装置 |
WO2017215751A1 (en) * | 2016-06-15 | 2017-12-21 | Volvo Truck Corporation | A wheel controller for a vehicle |
JP2018205940A (ja) * | 2017-06-01 | 2018-12-27 | 日立オートモティブシステムズ株式会社 | 移動体挙動予測装置 |
WO2019032728A1 (en) * | 2017-08-08 | 2019-02-14 | Sentinel Labs, Inc. | METHODS, SYSTEMS AND DEVICES FOR DYNAMICALLY MODELING AND REGROUPING END POINTS FOR ONBOARD NETWORKING |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100272631B1 (ko) * | 1997-11-21 | 2000-12-01 | 밍 루 | 차량의안전운행제어장치 |
EP1587704B1 (en) * | 2003-01-27 | 2009-09-09 | Nira Dynamics AB | Method, system and computer program product for wheel slip control |
US20060253243A1 (en) * | 2005-05-06 | 2006-11-09 | Jacob Svendenius | System and method for tire/road friction estimation |
JP4143113B2 (ja) * | 2005-12-27 | 2008-09-03 | 本田技研工業株式会社 | 車両の制御装置 |
WO2007074717A1 (ja) * | 2005-12-27 | 2007-07-05 | Honda Motor Co., Ltd. | 車両の制御装置 |
DE102007034143B4 (de) * | 2007-07-21 | 2016-03-10 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Bestimmen einer Modell-Gierrate und/oder einer Modell-Querbeschleunigung sowie eines Modell-Lenkwinkels |
JP5052265B2 (ja) * | 2007-09-06 | 2012-10-17 | トヨタ自動車株式会社 | 走行路判定装置および車両走行制御装置 |
JP2009083820A (ja) * | 2007-10-03 | 2009-04-23 | Bridgestone Corp | 車両制御装置 |
GB2480852A (en) * | 2010-06-03 | 2011-12-07 | Mira Ltd | Yaw motion control of a vehicle |
DE102011121454A1 (de) * | 2011-12-16 | 2013-06-20 | Audi Ag | Steuervorrichtung für einen Kraftwagen, Kraftwagen sowie Verfahren zum Konfigurieren der Steuervorrichtung |
JP6042706B2 (ja) * | 2012-11-21 | 2016-12-14 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
US9442045B2 (en) * | 2014-04-03 | 2016-09-13 | The Goodyear Tire & Rubber Company | Model-based longitudinal stiffness estimation system and method |
US10202144B2 (en) * | 2015-12-08 | 2019-02-12 | Ford Global Technologies, Llc | Vehicle curvature determination |
GB2545463B (en) * | 2015-12-17 | 2019-07-17 | Jaguar Land Rover Ltd | Method for controlling a vehicle |
US10384672B1 (en) * | 2016-05-11 | 2019-08-20 | Apple Inc. | Vehicle stability control system |
DE102016214574B4 (de) * | 2016-08-05 | 2019-08-29 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Schätzen von Reibwerten eines Rades eines Fahrzeugs gegenüber einem Untergrund |
US10207699B2 (en) * | 2016-10-19 | 2019-02-19 | GM Global Technology Operations LLC | Hybrid vehicle propulsion systems and methods |
KR101897628B1 (ko) * | 2017-02-06 | 2018-10-04 | 서울대학교산학협력단 | 고속 정상 주행상황에서의 타이어 노면 마찰계수 추정방법 및 타이어 노면 마찰계수 추정장치 |
US10288166B2 (en) * | 2017-07-24 | 2019-05-14 | Caterpillar Inc. | System and method for predicting and responding to soft underfoot conditions |
-
2019
- 2019-06-14 WO PCT/EP2019/065739 patent/WO2020249239A1/en active Application Filing
- 2019-06-14 US US17/596,295 patent/US20220306117A1/en active Pending
- 2019-06-14 JP JP2021572903A patent/JP2022541876A/ja active Pending
- 2019-06-14 CN CN201980097384.4A patent/CN114007911A/zh active Pending
- 2019-06-14 EP EP19739514.8A patent/EP3983270B1/en active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03128770A (ja) * | 1989-10-13 | 1991-05-31 | Nissan Motor Co Ltd | 車両舵角制御装置 |
JPH05176580A (ja) * | 1991-10-15 | 1993-07-13 | Hitachi Ltd | モータの制御装置 |
JPH0669800U (ja) * | 1993-03-15 | 1994-09-30 | 株式会社明電舎 | シャシダイナモメータ |
JPH07117656A (ja) * | 1993-10-20 | 1995-05-09 | Mitsubishi Electric Corp | ブレーキ制御装置及びブレーキ制御用センサ |
JPH10226347A (ja) * | 1997-02-12 | 1998-08-25 | Honda Motor Co Ltd | 車両の操舵装置 |
JP2001334922A (ja) * | 2000-05-29 | 2001-12-04 | Toyota Central Res & Dev Lab Inc | ブレーキ制御装置 |
JP2009214753A (ja) * | 2008-03-11 | 2009-09-24 | Nissan Motor Co Ltd | 車両走行状態推定装置 |
JP2010276446A (ja) * | 2009-05-28 | 2010-12-09 | Bridgestone Corp | 制動シミュレーション装置 |
WO2017215751A1 (en) * | 2016-06-15 | 2017-12-21 | Volvo Truck Corporation | A wheel controller for a vehicle |
JP2019519430A (ja) * | 2016-06-15 | 2019-07-11 | ボルボトラックコーポレーション | 車両の車輪制御装置 |
JP2018205940A (ja) * | 2017-06-01 | 2018-12-27 | 日立オートモティブシステムズ株式会社 | 移動体挙動予測装置 |
WO2019032728A1 (en) * | 2017-08-08 | 2019-02-14 | Sentinel Labs, Inc. | METHODS, SYSTEMS AND DEVICES FOR DYNAMICALLY MODELING AND REGROUPING END POINTS FOR ONBOARD NETWORKING |
JP2020530922A (ja) * | 2017-08-08 | 2020-10-29 | センチネル ラボ, インコーポレイテッドSentinel Labs, Inc. | エッジネットワーキングのエンドポイントを動的にモデリングおよびグループ化する方法、システム、およびデバイス |
Also Published As
Publication number | Publication date |
---|---|
EP3983270A1 (en) | 2022-04-20 |
WO2020249239A1 (en) | 2020-12-17 |
EP3983270C0 (en) | 2023-07-19 |
US20220306117A1 (en) | 2022-09-29 |
CN114007911A (zh) | 2022-02-01 |
EP3983270B1 (en) | 2023-07-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP2022541876A (ja) | 車両動力学に関連付けされたモデルを検証するための方法 | |
EP3851345B1 (en) | Wheel slip based vehicle motion management for heavy duty vehicles | |
JP7508563B2 (ja) | 速度制限付きのトルク要求に基づく車両運動管理 | |
US20160280251A1 (en) | Continuous estimation of surface friction coefficient based on eps and vehicle models | |
JP6235609B2 (ja) | 変速機出力軸センサを用いて車両の推定車輪速度を監視するためのシステムおよび方法 | |
US20070213911A1 (en) | Trailbraking | |
JP2023509317A (ja) | オンボード路面摩擦推定 | |
US20230063613A1 (en) | Vehicle control based on a dynamically configured sideslip limit | |
US20230068987A1 (en) | Differential electrical drive arrangement for heavy duty vehicles | |
CN116917179A (zh) | 基于控制包络的车辆运动管理 | |
US20220410853A1 (en) | Method for controlling propulsion of a heavy-duty vehicle | |
EP4219252A1 (en) | A method for controlling a heavy-duty vehicle | |
CN116215559A (zh) | 基于轮胎传感器负载估计的冗余车辆控制系统 | |
JP7474334B2 (ja) | 車両ブレーキシステムを制御する方法 | |
CN114523971A (zh) | 用于车辆的车辆运动管理系统和运动支持系统 | |
CN114643991A (zh) | 高速工况的底盘域控制方法及相关装置 | |
US20220063575A1 (en) | Vehicle motion management with a redundant wheel control safety net function | |
KR20240069764A (ko) | 대형 차량을 위한 휠 슬립-기반 모션 제어 | |
KR20240105392A (ko) | 중장비 차량의 가속 및 감속을 위한 휠 슬립 기반 제어 | |
CN118119522A (zh) | 用于重型车辆的逆轮胎模型增强功能 | |
EP4355602A1 (en) | A method for controlling propulsion of a heavy-duty vehicle | |
WO2023088556A1 (en) | Wheel slip-based control for accelerating and decelerating heavy-duty vehicles | |
TW202229066A (zh) | 具自我診斷功能的自動駕駛車輛之模態控制方法及底盤控制模組 | |
Khemoudj et al. | Control theory approach for on-board estimation and monitoring of heavy duty vehicle dynamical tyre forces |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220601 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230428 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230602 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20230830 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20231102 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231114 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20240126 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20240426 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20240508 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20240614 |