JP6365503B2 - 路面状況推定装置 - Google Patents

路面状況推定装置 Download PDF

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Publication number
JP6365503B2
JP6365503B2 JP2015210984A JP2015210984A JP6365503B2 JP 6365503 B2 JP6365503 B2 JP 6365503B2 JP 2015210984 A JP2015210984 A JP 2015210984A JP 2015210984 A JP2015210984 A JP 2015210984A JP 6365503 B2 JP6365503 B2 JP 6365503B2
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JP
Japan
Prior art keywords
value
tire
road surface
rotation
threshold value
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.)
Expired - Fee Related
Application number
JP2015210984A
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English (en)
Japanese (ja)
Other versions
JP2017081380A (ja
JP2017081380A5 (enExample
Inventor
洋一朗 鈴木
洋一朗 鈴木
高岡　彰
彰 高岡
高俊 関澤
高俊 関澤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2015210984A priority Critical patent/JP6365503B2/ja
Priority to PCT/JP2016/078021 priority patent/WO2017073210A1/ja
Priority to DE112016004909.9T priority patent/DE112016004909B8/de
Priority to US15/770,517 priority patent/US10597009B2/en
Publication of JP2017081380A publication Critical patent/JP2017081380A/ja
Publication of JP2017081380A5 publication Critical patent/JP2017081380A5/ja
Application granted granted Critical
Publication of JP6365503B2 publication Critical patent/JP6365503B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/02—Tyres
    • G01M17/025—Tyres using infrasonic, sonic or ultrasonic vibrations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
    • 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
    • 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
    • B60T2210/14—Rough roads, bad roads, gravel roads
    • 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/tyre behaviour; counteracting thereof
    • B60T2240/03—Tyre 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
    • 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
    • B60W2050/0055—High-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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/90—Single sensor for two or more measurements
    • 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
    • B60W2422/00—Indexing codes relating to the special location or mounting of sensors
    • B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tyre

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Environmental Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Tires In General (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2015210984A 2015-10-27 2015-10-27 路面状況推定装置 Expired - Fee Related JP6365503B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2015210984A JP6365503B2 (ja) 2015-10-27 2015-10-27 路面状況推定装置
PCT/JP2016/078021 WO2017073210A1 (ja) 2015-10-27 2016-09-23 路面状況推定装置
DE112016004909.9T DE112016004909B8 (de) 2015-10-27 2016-09-23 Strassenoberflächenzustands-Schätzvorrichtung
US15/770,517 US10597009B2 (en) 2015-10-27 2016-09-23 Road surface condition estimation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015210984A JP6365503B2 (ja) 2015-10-27 2015-10-27 路面状況推定装置

Publications (3)

Publication Number Publication Date
JP2017081380A JP2017081380A (ja) 2017-05-18
JP2017081380A5 JP2017081380A5 (enExample) 2017-11-24
JP6365503B2 true JP6365503B2 (ja) 2018-08-01

Family

ID=58630197

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015210984A Expired - Fee Related JP6365503B2 (ja) 2015-10-27 2015-10-27 路面状況推定装置

Country Status (4)

Country Link
US (1) US10597009B2 (enExample)
JP (1) JP6365503B2 (enExample)
DE (1) DE112016004909B8 (enExample)
WO (1) WO2017073210A1 (enExample)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6365503B2 (ja) 2015-10-27 2018-08-01 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6488986B2 (ja) 2015-10-27 2019-03-27 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6551463B2 (ja) * 2016-07-13 2019-07-31 株式会社デンソー タイヤマウントセンサおよびそれを含む路面状態推定装置
JP6627670B2 (ja) * 2016-07-13 2020-01-08 株式会社デンソー タイヤマウントセンサおよびそれを含む路面状態推定装置
JP6547793B2 (ja) * 2016-08-12 2019-07-24 株式会社デンソー タイヤマウントセンサ、ダイアグ履歴記憶装置およびダイアグ報知装置
JP6783184B2 (ja) * 2017-05-12 2020-11-11 株式会社ブリヂストン 路面状態判別方法及び路面状態判別装置
JP2019006351A (ja) * 2017-06-28 2019-01-17 株式会社ブリヂストン 路面状態推定方法及び路面状態推定装置
JP7096270B2 (ja) * 2018-11-30 2022-07-05 太平洋工業株式会社 路面情報収集装置
KR102267901B1 (ko) * 2019-10-02 2021-06-24 한국타이어앤테크놀로지 주식회사 노면 상태 추정 장치 및 이를 이용한 노면 상태 추정 방법
EP4140782B1 (en) * 2021-08-27 2025-12-10 Bridgestone Europe NV/SA A method to synchronize the time of a tire-mounted sensor to the road impact and measure the contact patch duration and amplitude
CN118695972A (zh) * 2022-02-14 2024-09-24 日立安斯泰莫株式会社 路面种类探测装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1219515B1 (en) * 2000-06-23 2011-01-19 Kabushiki Kaisha Bridgestone Method for estimating vehicular running state, vehicular running state estimating device, vehicle control device, and tire wheel
JP4554176B2 (ja) * 2003-08-19 2010-09-29 株式会社ブリヂストン 路面状態推定方法
JP4349151B2 (ja) * 2004-02-26 2009-10-21 トヨタ自動車株式会社 接触状態取得装置
JP4439985B2 (ja) * 2004-04-20 2010-03-24 株式会社ブリヂストン 路面摩擦係数の推定方法、路面摩擦係数推定装置、及び、車両制御装置
JP2008162392A (ja) * 2006-12-28 2008-07-17 Bridgestone Corp タイヤ接地状態推定方法、タイヤ接地状態推定装置、タイヤ、及び、車輌制御装置
JP5103066B2 (ja) * 2007-06-21 2012-12-19 富士重工業株式会社 車両の路面状態推定装置
JP4926850B2 (ja) * 2007-06-25 2012-05-09 富士重工業株式会社 車両の路面状態推定装置
JP5657917B2 (ja) 2010-05-19 2015-01-21 株式会社ブリヂストン 路面状態推定方法
JP5993804B2 (ja) * 2013-06-12 2016-09-14 株式会社ブリヂストン タイヤ接地状態推定方法
JP6273937B2 (ja) 2014-03-18 2018-02-07 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6281346B2 (ja) 2014-03-18 2018-02-21 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6275541B2 (ja) 2014-04-28 2018-02-07 東芝燃料電池システム株式会社 燃料電池スタック
JP6488986B2 (ja) 2015-10-27 2019-03-27 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6365503B2 (ja) 2015-10-27 2018-08-01 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6544302B2 (ja) * 2016-06-22 2019-07-17 株式会社Ｓｏｋｅｎ 路面状況推定装置

Also Published As

Publication number Publication date
DE112016004909T5 (de) 2018-07-12
DE112016004909B4 (de) 2023-01-12
DE112016004909B8 (de) 2023-03-16
JP2017081380A (ja) 2017-05-18
WO2017073210A1 (ja) 2017-05-04
US10597009B2 (en) 2020-03-24
US20180222458A1 (en) 2018-08-09

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