JP5733924B2 - トレーラと牽引車両との間の測定距離を用いたトレーラの揺れ軽減方法及びシステム - Google Patents
トレーラと牽引車両との間の測定距離を用いたトレーラの揺れ軽減方法及びシステム Download PDFInfo
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Classifications
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/20—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger specially for trailers, e.g. in case of uncoupling of or overrunning by trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/245—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating push back or parking of trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
-
- 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
-
- 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
- B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/246—Change of direction
-
- 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
- B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/248—Trailer sway, e.g. for preventing jackknifing
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/06—Tractor-trailer swaying
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Vibration Prevention Devices (AREA)
Description
右距離センサ44及び左距離センサ46は、車両10の後端14に取り付けられ、互いに離間している。示されるように、右センサ44は長手方向軸48から距離l1を置いて位置しており、左センサ46は長手方向軸48から距離l2を置いて位置している。距離l1及びl2は変化することなく、l1及びl2の値(メートル単位)はECU28のメモリに記憶される。
目標のトレーラの揺れ角θso(t)は、長手方向車両軸48と長手方向トレーラ軸68との関係を表す(describe)。トレーラ50が車両10と一列になると、長手方向車両軸48及び長手方向トレーラ軸68は互いに平行になり、θ(t)は0度に等しい。
実際の右距離d1(t)及び実際の左距離d2(t)は、右距離センサ44及び左距離センサ46によって生成及び受信される信号を解析することによって求められる。右距離センサ44及び左距離センサ46は、超音波センサ、レーダセンサ等とすることができる。右距離センサ44は、トレーラ50の方向に信号82を発する。信号82の少なくとも一部が反射して右センサ44に向かって戻り、センサ44は経過時間の長さに基づいて右距離d1(t)を求める。左距離センサ46は、トレーラ50の方向に信号84を発し、信号84がトレーラの前端54に達してから反射し左距離センサ46に戻るまでの時間の長さを求める。
ε2(t)=d2(t)−d2so(t) (方程式5)
加算ノード90が、方程式4及び5を用いてESPによって計算されたエラー信号86及び88を加算して、その合計(制御器入力)92を比例・積分・微分(PID)制御器94に出力する。ESPセンサ32、34、36、38、40及び42もまた、帯域フィルタ98を用いてフィルタリングされる出力96を提供し、これがPID制御器94に提供される。PID制御器94はエラー信号92、及びフィルタリングされたESPセンサ出力100を用いて油圧ユニット104に提供される制御信号102を生成する。油圧ユニット104は、対称ブレーキ、非対称ブレーキ、又はその両方を車両10に加えるための出力106を生成する。このプロセスは、トレーラ振動が所定の閾値を下回るまで繰り返される。
d0は、θ=0である(すなわち、トレーラは車両と位置合わせされている)ときの車両とトレーラとの間の距離である。ESCモジュール70は、感知された距離d(t)を受信し、感知された距離d(t)を目標距離dso(t)と比較して方程式7を用いてエラー信号ε(t)を求める。
対称ブレーキ、非対称ブレーキ、又はその両方を車輪に加えるか否かを判断するために、エラー信号92がPID制御器94によって用いられる。ブレーキ力を車両112の車輪に加えるために、PID制御器94によって生成される制御信号102が油圧ユニット104に提供される。したがって、トレーラ振動が減少し、車両112及びトレーラ128の両方の安定性が増大する。
Claims (16)
- 車両及びトレーラを制御する方法であって、該車両は前端及び後端を有しており、該トレーラは該後端に連結されており、該方法は、
前記車両の操舵角を感知すること、
車両の運転中に、前記車両の前記後端に位置付けられているセンサによって、前記車両と前記トレーラとの間の距離を感知すること、
車両の運転中に、前記車両の前記感知された操舵角に基づいて、前記車両の後端と前記トレーラとの間の目標距離を計算すること、
前記感知された距離及び前記目標距離に基づいてエラー信号を求めること、並びに
車両の方向転換中に、前記エラー信号に応答して、前記車両の少なくとも1つの車輪にブレーキ力を加えること、
を含む、方法。 - 前記センサは超音波センサを含む、請求項1に記載の方法。
- 前記車両と前記トレーラとの間の距離を感知することは、前記車両の前記後端に連結されている前記超音波センサから超音波パルスを発すること、前記超音波センサによって前記超音波パルスの反射を受信すること、該反射を受信するまでの時間の長さを計算すること、及び該時間の長さに基づいて前記距離を求めることをさらに含む、請求項2に記載の方法。
- 前記センサはレーダセンサを含む、請求項1に記載の方法。
- 前記目標距離を計算することは、前記操舵角、車両速度、及び車両ヨーレートに基づいて前記目標距離を計算することを含む、請求項1に記載の方法。
- 前記トレーラの揺れ角を求めることをさらに含む、請求項1に記載の方法。
- 前記車両と前記トレーラとの間の第2の距離を感知すること、
前記車両の後端と前記トレーラとの間の第2の目標距離を計算すること、
前記感知された第2の距離及び前記第2の目標距離に基づいて第2のエラー信号を求めること、並びに
前記第2のエラー信号に応答して前記ブレーキ力を加えることをさらに含む、請求項1に記載の方法。 - 前記ブレーキ力を加えることは、対称ブレーキ力及び非対称ブレーキ力の一方を加えることをさらに含む、請求項1に記載の方法。
- 前記トレーラの測定された揺れ角の変化がゼロ度よりも大きい場合、前記非対称ブレーキ力を加えることをさらに含む、請求項8に記載の方法。
- 車両及びトレーラを制御するためのシステムであって、該車両は前端及び後端を有しており、該トレーラは該後端に連結されており、該システムは、
前記車両の操舵角を出力するように構成されているセンサと、
前記車両の前記後端に連結されている少なくとも1つの距離センサであって、前記後端と前記トレーラとの間の距離を感知し、該感知された距離を示す距離信号を出力するように構成されている、少なくとも1つの距離センサと、
前記車両に連結され且つ前記車両の操舵角及び前記距離信号を受信するように構成されている電子制御ユニットであって、車両の運転中に、前記車両の操舵角に基づいて目標トレーラ距離を計算し、前記感知された距離及び前記目標トレーラ距離に基づいてエラー信号を求め、車両の方向転換中に、前記エラー信号に応答して前記車両の少なくとも1つの車輪にブレーキ力を加えるように構成されている、電子制御ユニットと、
を備える、システム。 - 前記距離センサは超音波センサである、請求項10に記載のシステム。
- 前記距離センサはレーダセンサである、請求項10に記載のシステム。
- 前記システムは、第1の距離センサから離間している、前記後端に連結されている第2の距離センサをさらに備え、前記電子制御ユニットは、前記第1の距離センサからの第1の距離信号及び前記第2の距離センサからの第2の距離信号を受信し、前記車両の操舵角に基づいて第2の目標トレーラ距離を計算し、第2の感知された距離及び前記第2の目標トレーラ距離に基づいて第2のエラー信号を求め、前記第2のエラー信号に応答して前記ブレーキ力を加えるように構成される、請求項10に記載のシステム。
- 前記電子制御ユニットは、前記操舵角、車両速度及び車両ヨーレートに基づいて前記目標トレーラ距離を計算するように構成される、請求項10に記載のシステム。
- 前記ブレーキ力を加えることは、前記車両の前記車輪に、対称ブレーキ力を加えること及び非対称ブレーキ力を加えることの一方を含む、請求項10に記載のシステム。
- 前記電子制御ユニットは、前記エラー信号が第1の閾値を上回るときに前記対称ブレーキ力を加え、前記エラー信号が前記第1の閾値以下であり且つ第2の閾値を上回るときに非対称ブレーキ力を加える、請求項15に記載のシステム。
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Application Number | Priority Date | Filing Date | Title |
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US12/508,878 US8838353B2 (en) | 2009-07-24 | 2009-07-24 | Trailer sway mitigation using measured distance between a trailer and a tow vehicle |
US12/508,878 | 2009-07-24 |
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JP2011025921A JP2011025921A (ja) | 2011-02-10 |
JP5733924B2 true JP5733924B2 (ja) | 2015-06-10 |
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US (1) | US8838353B2 (ja) |
JP (1) | JP5733924B2 (ja) |
DE (1) | DE102010033381B4 (ja) |
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US20110022282A1 (en) | 2011-01-27 |
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Free format text: JAPANESE INTERMEDIATE CODE: R250 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |