JP5039149B2 - ロールレートセンサの信号のオフセットを求めるための方法と装置 - Google Patents
ロールレートセンサの信号のオフセットを求めるための方法と装置 Download PDFInfo
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- JP5039149B2 JP5039149B2 JP2009545902A JP2009545902A JP5039149B2 JP 5039149 B2 JP5039149 B2 JP 5039149B2 JP 2009545902 A JP2009545902 A JP 2009545902A JP 2009545902 A JP2009545902 A JP 2009545902A JP 5039149 B2 JP5039149 B2 JP 5039149B2
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 53
- 230000005484 gravity Effects 0.000 description 5
- 238000012935 Averaging Methods 0.000 description 4
- 230000004069 differentiation Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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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
- B60W40/10—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 vehicle motion
- B60W40/11—Pitch movement
-
- 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
- B60G17/019—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 type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/112—Roll movement
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/08—Failure or malfunction detecting means
- B60G2600/082—Sensor drift
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/14—Differentiating means, i.e. differential control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- 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
- B60W2520/18—Roll
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
- Catching Or Destruction (AREA)
- Indication And Recording Devices For Special Purposes And Tariff Metering Devices (AREA)
Description
Claims (8)
- 車両(10)のロールレートセンサの信号のオフセット(OFS_SIG)を求める方法において、
前記ロールレートセンサの信号(OMEGA_ROLL_SIG)を検出し、
前記車両(10)の横加速度(AC)を求め、
前記横加速度(AC)の時間微分(DRV_AC)を求め、
前記横加速度(AC)の前記時間微分(DRV_AC)の絶対値が所定の第1の閾値(THD_1)よりも小さいか否かを検査し、
前記横加速度(AC)の前記時間微分(DRV_AC)の絶対値が前記所定の第1の閾値(THD_1)よりも小さい場合には、前記ロールレートセンサの信号のオフセット(OFS_SIG)を求めることを特徴とする、車両(10)のロールレートセンサの信号のオフセット(OFS_SIG)を求める方法。 - 前記ロールレートセンサの信号(OMEGA_ROLL_SIG)を所定の期間にわたり検出し、前記横加速度(AC)の前記時間微分(DRV_AC)の前記絶対値が前記所定の第1の閾値(THD_1)よりも小さい間に検出される、前記ロールレートセンサの信号(OMEGA_ROLL_SIG)の一部にのみ依存して前記信号のオフセット(OFS_SIG)を求める、請求項1記載の方法。
- 前記車両(10)の横加速度(AC)を横加速度センサにより求める、請求項1または2記載の方法。
- 前記車両(10)の前記横加速度(AC)を、前記車両(10)の複数の車輪(12)のうちの少なくとも2つの車輪速度(VEL_WHEEL)に依存して求める、請求項1から3までのいずれか1項記載の方法。
- 前記ロールレートセンサの信号(OMEGA_ROLL_SIG)の時間微分(DRV_SIG)を求め、前記ロールレートセンサの信号(OMEGA_ROLL_SIG)の前記時間微分(DRV_SIG)の絶対値が所定の第2の閾値(THD_2)よりも小さい場合には、前記ロールレートセンサの信号のオフセット(OFS_SIG)を前記ロールレートセンサの信号(OMEGA_ROLL_SIG)に依存して求める、請求項1から4までのいずれか1項記載の方法。
- 前記車両(10)の少なくとも1つの車輪(12)の車輪速度(VEL_WHEEL)を求め、相応の車輪(12)の求められた車輪速度(VEL_WHEEL)の絶対値が所定の第3の閾値(THD_3)よりも小さい場合には、前記ロールレートセンサの信号のオフセット(OFS_SIG)を前記ロールレートセンサの信号(OMEGA_ROLL_SIG)に依存して求める、請求項1から5までのいずれか1項記載の方法。
- 車両速度(VEL_VEH)を求め、求められた前記車両速度(VEL_VEH)の絶対値が前記所定の第3の閾値(HTD_3)よりも小さい場合には、前記ロールレートセンサの信号のオフセット(OFS_SIG)を前記ロールレートセンサの信号(OMEGA_ROLL_SIG)に依存して求める、請求項6記載の方法。
- 車両(10)のロールレートセンサの信号のオフセット(OFS_SIG)を求める装置において、
前記ロールレートセンサの信号(OMEGA_ROLL_SIG)を検出し、
前記車両(10)の横加速度(AC)を求め、
前記横加速度(AC)の時間微分(DRV_AC)を求め、
前記横加速度(AC)の前記時間微分(DRV_AC)の絶対値が所定の第1の閾値(THD_1)よりも小さいか否かを検査し、
前記横加速度(AC)の前記時間微分(DRV_AC)の前記絶対値が前記所定の第1の閾値(THD_1)よりも小さい場合には、前記ロールレートセンサの信号(OMEGA_ROLL_SIG)に依存して、前記ロールレートセンサの信号のオフセット(OFS_SIG)を求めることを特徴とする、車両(10)のロールレートセンサの信号のオフセット(OFS_SIG)を求める装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007004606.7 | 2007-01-30 | ||
DE102007004606A DE102007004606A1 (de) | 2007-01-30 | 2007-01-30 | Verfahren und Vorrichtung zum Ermitteln eines Signalversatzes eines Rollratensensors |
PCT/EP2008/050354 WO2008092730A2 (de) | 2007-01-30 | 2008-01-14 | Verfahren und vorrichtung zum ermitteln eines signalversatzes eines rollratensensors |
Publications (2)
Publication Number | Publication Date |
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JP2010516534A JP2010516534A (ja) | 2010-05-20 |
JP5039149B2 true JP5039149B2 (ja) | 2012-10-03 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2009545902A Expired - Fee Related JP5039149B2 (ja) | 2007-01-30 | 2008-01-14 | ロールレートセンサの信号のオフセットを求めるための方法と装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8387439B2 (ja) |
EP (1) | EP2114706B1 (ja) |
JP (1) | JP5039149B2 (ja) |
AT (1) | ATE493283T1 (ja) |
DE (2) | DE102007004606A1 (ja) |
WO (1) | WO2008092730A2 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010002680A1 (de) | 2010-03-09 | 2011-09-15 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erkennung einer Abweichung eines Drehratensignals eines Drehratensensors |
DE102018129864A1 (de) * | 2018-11-27 | 2020-05-28 | Valeo Schalter Und Sensoren Gmbh | Verfahren und System zur Rekalibrierung von Winkeln |
DE102019200537A1 (de) * | 2019-01-17 | 2020-07-23 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs und Kraftfahrzeug |
DE102019003238B4 (de) * | 2019-05-08 | 2023-04-20 | Mercedes-Benz Group AG | Fahrzeugortung durch Kartenabgleich unter Berücksichtigung eines Straßenprofils |
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US1853069A (en) * | 1931-06-15 | 1932-04-12 | Minorsky Nicolai | Stabilizing apparatus |
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US5321616A (en) * | 1990-08-10 | 1994-06-14 | Matsushita Electric Industrial Co., Ltd. | Vehicle control apparatus |
JPH08178687A (ja) * | 1994-12-26 | 1996-07-12 | Pioneer Electron Corp | 姿勢検出方法及び装置 |
DE19502858C1 (de) * | 1995-01-30 | 1996-07-11 | Siemens Ag | Verfahren und Schaltungsanordnung zum Kompensieren der Signalfehler eines Giergeschwindigkeitssensors |
DE19540674C2 (de) * | 1995-10-31 | 1999-01-28 | Siemens Ag | Adaptionsverfahren zur Korrektur von Toleranzen eines Geberrades |
JP4003241B2 (ja) * | 1995-12-27 | 2007-11-07 | トヨタ自動車株式会社 | 車両用乗員姿勢補助装置 |
JP3374394B2 (ja) * | 1997-10-14 | 2003-02-04 | トヨタ自動車株式会社 | 車両用懸架装置 |
US6421622B1 (en) * | 1998-06-05 | 2002-07-16 | Crossbow Technology, Inc. | Dynamic attitude measurement sensor and method |
JP2000346869A (ja) * | 1999-06-02 | 2000-12-15 | Unisia Jecs Corp | 車両挙動検出装置および車両挙動制御装置 |
JP3835079B2 (ja) * | 1999-10-19 | 2006-10-18 | 井関農機株式会社 | センサの零点誤差の補正方法 |
US6332104B1 (en) * | 1999-12-21 | 2001-12-18 | Ford Global Technologies, Inc. | Roll over detection for an automotive vehicle |
JP3797881B2 (ja) * | 2001-03-01 | 2006-07-19 | 株式会社クボタ | 作業機のローリング制御装置 |
DE10115217C1 (de) | 2001-03-28 | 2002-08-14 | Bosch Gmbh Robert | Verfahren zum Bestimmen der Winkellage eines Fahrzeugs |
US7085642B2 (en) * | 2002-08-05 | 2006-08-01 | Ford Global Technologies, Llc | Method and system for correcting sensor offsets |
JP4145741B2 (ja) * | 2003-07-03 | 2008-09-03 | 三菱電機株式会社 | 車両のロールオーバ判別装置および車両のロールオーバ判別方法 |
JP4003718B2 (ja) | 2003-08-21 | 2007-11-07 | 日産自動車株式会社 | 自動変速機の変速制御装置 |
DE102004035576A1 (de) * | 2004-07-22 | 2006-02-16 | Daimlerchrysler Ag | Stabilisierungsvorrichtung und Verfahren zur Fahrstabilisierung eines Fahrzeugs anhand eines Wankwerts |
JP4376735B2 (ja) * | 2004-08-26 | 2009-12-02 | 三菱電機株式会社 | 計測信号の積分処理装置 |
KR20080028600A (ko) * | 2006-09-27 | 2008-04-01 | 삼성전자주식회사 | 오프셋 보상 회로를 구비하는 평균회로 |
DE102006049118B4 (de) * | 2006-10-18 | 2008-12-18 | Continental Automotive Gmbh | Verfahren und Vorrichtung zum Ermitteln eines Signalversatzes eines Nickratensensors |
US20090299546A1 (en) * | 2008-05-28 | 2009-12-03 | Hac Aleksander B | Dynamic-based method of estimating the absolute roll angle of a vehicle body |
US20090299579A1 (en) * | 2008-05-28 | 2009-12-03 | Hac Aleksander B | Kinematic-based method of estimating the absolute roll angle of a vehicle body |
-
2007
- 2007-01-30 DE DE102007004606A patent/DE102007004606A1/de not_active Withdrawn
-
2008
- 2008-01-14 EP EP08701467A patent/EP2114706B1/de not_active Not-in-force
- 2008-01-14 AT AT08701467T patent/ATE493283T1/de active
- 2008-01-14 DE DE502008002133T patent/DE502008002133D1/de active Active
- 2008-01-14 WO PCT/EP2008/050354 patent/WO2008092730A2/de active Application Filing
- 2008-01-14 JP JP2009545902A patent/JP5039149B2/ja not_active Expired - Fee Related
- 2008-01-14 US US12/524,025 patent/US8387439B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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WO2008092730A3 (de) | 2008-09-25 |
US8387439B2 (en) | 2013-03-05 |
WO2008092730A2 (de) | 2008-08-07 |
US20110226036A1 (en) | 2011-09-22 |
EP2114706A2 (de) | 2009-11-11 |
DE502008002133D1 (de) | 2011-02-10 |
ATE493283T1 (de) | 2011-01-15 |
DE102007004606A1 (de) | 2008-07-31 |
JP2010516534A (ja) | 2010-05-20 |
EP2114706B1 (de) | 2010-12-29 |
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