JP5393432B2 - ロール角推定装置および輸送機器 - Google Patents

ロール角推定装置および輸送機器 Download PDF

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Publication number
JP5393432B2
JP5393432B2 JP2009288836A JP2009288836A JP5393432B2 JP 5393432 B2 JP5393432 B2 JP 5393432B2 JP 2009288836 A JP2009288836 A JP 2009288836A JP 2009288836 A JP2009288836 A JP 2009288836A JP 5393432 B2 JP5393432 B2 JP 5393432B2
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Japan
Prior art keywords
roll angle
estimation
angular velocity
speed
estimated
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English (en)
Japanese (ja)
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JP2011128093A5 (enExample
JP2011128093A (ja
Inventor
博介 井上
隆弘 藤井
吉美智 関
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Yamaha Motor Co Ltd
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Yamaha Motor Co Ltd
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Priority to JP2009288836A priority Critical patent/JP5393432B2/ja
Priority to EP10838866.1A priority patent/EP2517941B1/en
Priority to PCT/JP2010/006588 priority patent/WO2011077626A1/ja
Priority to US13/518,060 priority patent/US9630672B2/en
Publication of JP2011128093A publication Critical patent/JP2011128093A/ja
Publication of JP2011128093A5 publication Critical patent/JP2011128093A5/ja
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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
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • B60W2050/0056—Low-pass filters
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • 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
    • 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
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal 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
    • B60W2520/12—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
    • B60W2520/14—Yaw
    • 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
    • B60W2520/16—Pitch
    • 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
    • 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
    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters

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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)
  • Gyroscopes (AREA)
  • Vehicle Body Suspensions (AREA)
JP2009288836A 2009-12-21 2009-12-21 ロール角推定装置および輸送機器 Active JP5393432B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2009288836A JP5393432B2 (ja) 2009-12-21 2009-12-21 ロール角推定装置および輸送機器
EP10838866.1A EP2517941B1 (en) 2009-12-21 2010-11-10 Roll angle estimation device and transport equipment
PCT/JP2010/006588 WO2011077626A1 (ja) 2009-12-21 2010-11-10 ロール角推定装置および輸送機器
US13/518,060 US9630672B2 (en) 2009-12-21 2010-11-10 Roll angle estimation device and transport equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2009288836A JP5393432B2 (ja) 2009-12-21 2009-12-21 ロール角推定装置および輸送機器

Publications (3)

Publication Number Publication Date
JP2011128093A JP2011128093A (ja) 2011-06-30
JP2011128093A5 JP2011128093A5 (enExample) 2012-10-25
JP5393432B2 true JP5393432B2 (ja) 2014-01-22

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JP2009288836A Active JP5393432B2 (ja) 2009-12-21 2009-12-21 ロール角推定装置および輸送機器

Country Status (4)

Country Link
US (1) US9630672B2 (enExample)
EP (1) EP2517941B1 (enExample)
JP (1) JP5393432B2 (enExample)
WO (1) WO2011077626A1 (enExample)

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US10295366B2 (en) 2017-01-13 2019-05-21 Toyota Jidosha Kabushiki Kaisha Sensor error correcting apparatus and method

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US10466269B2 (en) 2013-02-19 2019-11-05 Calamp Corp. Systems and methods for low latency 3-axis accelerometer calibration
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JP5996572B2 (ja) * 2014-03-27 2016-09-21 本田技研工業株式会社 車体のロール角推定装置
US9594094B2 (en) 2014-04-16 2017-03-14 Yamaha Hatsudoki Kabushiki Kaisha Lateral force estimation system, method of estimating lateral force and vehicle
JP6153493B2 (ja) 2014-04-25 2017-06-28 ヤマハ発動機株式会社 ロール角推定装置および輸送機器
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CN104573322B (zh) * 2014-12-12 2017-06-23 山东交通学院 一种汽车侧倾中心轴位置动态测量装置及其确定方法
US9644977B2 (en) 2015-05-22 2017-05-09 Calamp Corp. Systems and methods for determining vehicle operational status
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US20190141156A1 (en) 2017-11-06 2019-05-09 Calamp Corp. Systems and Methods for Dynamic Telematics Messaging
US11206171B2 (en) 2017-11-07 2021-12-21 Calamp Corp. Systems and methods for dynamic device programming
JP2020091672A (ja) * 2018-12-06 2020-06-11 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 鞍乗型車両のライダー支援システムのための処理装置及び処理方法、鞍乗型車両のライダー支援システム、及び、鞍乗型車両
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10295366B2 (en) 2017-01-13 2019-05-21 Toyota Jidosha Kabushiki Kaisha Sensor error correcting apparatus and method

Also Published As

Publication number Publication date
WO2011077626A1 (ja) 2011-06-30
EP2517941B1 (en) 2020-09-02
EP2517941A4 (en) 2017-03-15
JP2011128093A (ja) 2011-06-30
US9630672B2 (en) 2017-04-25
US20120259526A1 (en) 2012-10-11
EP2517941A1 (en) 2012-10-31

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