JP6573978B2 - 車両挙動に影響を及ぼす変数を予測する方法および対応する仮想センサ - Google Patents

車両挙動に影響を及ぼす変数を予測する方法および対応する仮想センサ Download PDF

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JP6573978B2
JP6573978B2 JP2017526773A JP2017526773A JP6573978B2 JP 6573978 B2 JP6573978 B2 JP 6573978B2 JP 2017526773 A JP2017526773 A JP 2017526773A JP 2017526773 A JP2017526773 A JP 2017526773A JP 6573978 B2 JP6573978 B2 JP 6573978B2
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prediction
vehicle
variable
variables
measured
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JP2017532253A5 (enExample
JP2017532253A (ja
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マリオ・ミラネーゼ
カルロ・ノヴァーラ
イラーリオ・ジェルレーロ
マリオ・ボナンソーネ
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Modelway SRL
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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
    • B60W40/103—Side slip angle of vehicle body
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • 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
    • 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
    • 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
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • 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
    • 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
    • B60W2520/28—Wheel 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2017526773A 2014-08-04 2015-08-03 車両挙動に影響を及ぼす変数を予測する方法および対応する仮想センサ Expired - Fee Related JP6573978B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITTO2014A000631 2014-08-04
ITTO20140631 2014-08-04
PCT/IB2015/055895 WO2016020834A1 (en) 2014-08-04 2015-08-03 A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor

Publications (3)

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JP2017532253A JP2017532253A (ja) 2017-11-02
JP2017532253A5 JP2017532253A5 (enExample) 2018-09-06
JP6573978B2 true JP6573978B2 (ja) 2019-09-11

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JP2017526773A Expired - Fee Related JP6573978B2 (ja) 2014-08-04 2015-08-03 車両挙動に影響を及ぼす変数を予測する方法および対応する仮想センサ

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US (1) US10597039B2 (enExample)
EP (1) EP3177499B1 (enExample)
JP (1) JP6573978B2 (enExample)
CN (1) CN107000755B (enExample)
WO (1) WO2016020834A1 (enExample)

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WO2017053415A1 (en) 2015-09-24 2017-03-30 Quovard Management Llc Systems and methods for surface monitoring
WO2017053407A1 (en) 2015-09-24 2017-03-30 Quovard Management Llc Systems and methods for localization using surface imaging
US10204461B2 (en) * 2016-07-19 2019-02-12 GM Global Technology Operations LLC Detection and reconstruction of sensor faults
US10442439B1 (en) * 2016-08-18 2019-10-15 Apple Inc. System and method for road friction coefficient estimation
IT201600087202A1 (it) * 2016-08-25 2018-02-25 I E T S P A Metodo ed apparato di regolazione automatica di un veicolo in una condizione di prestazione prestabilita
US10343685B2 (en) 2016-09-28 2019-07-09 Baidu Usa Llc Physical model and machine learning combined method to simulate autonomous vehicle movement
US10019008B2 (en) * 2016-09-28 2018-07-10 Baidu Usa Llc Sideslip compensated control method for autonomous vehicles
IT201600098423A1 (it) * 2016-09-30 2018-03-30 Modelway S R L Procedimento di progettazione di un sensore virtuale, relativo sensore virtuale, sistema e prodotti informatici
IT201700019122A1 (it) * 2017-02-21 2018-08-21 Automobili Lamborghini Spa Metodo di stima di un parametro di assetto di un veicolo.
CN107600073B (zh) * 2017-08-10 2019-07-05 同济大学 一种基于多源信息融合的车辆质心侧偏角估计系统及方法
DE102017214030A1 (de) * 2017-08-11 2019-02-14 Robert Bosch Gmbh Verfahren zum Bestimmen eines Reibwerts für einen Kontakt zwischen einem Reifen eines Fahrzeugs und einer Fahrbahn und Verfahren zum Steuern einer Fahrzeugfunktion eines Fahrzeugs
EP3531352A1 (en) * 2018-02-21 2019-08-28 Ningbo Geely Automobile Research & Development Co. Ltd. Method for identifying slow transient variations and/or local spatial variations of a physical property in a set of data points
US10875540B2 (en) * 2018-07-19 2020-12-29 Beijing Voyager Technology Co., Ltd. Ballistic estimation of vehicle data
CN109466558B (zh) * 2018-10-26 2020-08-04 重庆邮电大学 一种基于ekf和bp神经网络的路面附着系数估计方法
US11526724B2 (en) * 2019-08-21 2022-12-13 GM Global Technology Operations LLC Virtual sensor for estimating online unmeasurable variables via successive time derivatives
US11702084B2 (en) * 2019-11-25 2023-07-18 The Goodyear Tire & Rubber Company Vehicle sideslip angle estimation system and method
CN111391822B (zh) * 2020-03-27 2022-06-24 吉林大学 一种极限工况下汽车横纵向稳定性协同控制方法
CN111578931B (zh) * 2020-05-21 2022-03-04 中国人民解放军海军航空大学 基于在线滚动时域估计的高动态飞行器自主姿态估计方法
US12351188B2 (en) * 2023-11-28 2025-07-08 GM Global Technology Operations LLC Real-time reliability assessment method to enhance robustness of data-fusion based vehicle speed estimation
KR20250083835A (ko) * 2023-12-01 2025-06-10 에이치엘만도 주식회사 사이드 슬립 각 추정 장치 및 그 방법

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JPH04238745A (ja) * 1991-01-14 1992-08-26 Toyota Central Res & Dev Lab Inc 車両の自律分散制御装置
JP2882232B2 (ja) * 1993-03-17 1999-04-12 三菱自動車工業株式会社 車体重心スリップ角計測装置
JP2007099178A (ja) * 2005-10-07 2007-04-19 Fuji Heavy Ind Ltd 近似推定装置
US7499842B2 (en) * 2005-11-18 2009-03-03 Caterpillar Inc. Process model based virtual sensor and method
US7787969B2 (en) * 2007-06-15 2010-08-31 Caterpillar Inc Virtual sensor system and method
US8050838B2 (en) * 2008-11-24 2011-11-01 GM Global Technology Operations LLC Kinematic estimator for vehicle lateral velocity using force tables

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EP3177499A1 (en) 2017-06-14
WO2016020834A1 (en) 2016-02-11
US20170225688A1 (en) 2017-08-10
US10597039B2 (en) 2020-03-24
CN107000755B (zh) 2021-01-22
CN107000755A (zh) 2017-08-01
EP3177499B1 (en) 2021-10-20
JP2017532253A (ja) 2017-11-02

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