JP6614073B2 - 路面状態推定装置 - Google Patents

路面状態推定装置 Download PDF

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Publication number
JP6614073B2
JP6614073B2 JP2016173733A JP2016173733A JP6614073B2 JP 6614073 B2 JP6614073 B2 JP 6614073B2 JP 2016173733 A JP2016173733 A JP 2016173733A JP 2016173733 A JP2016173733 A JP 2016173733A JP 6614073 B2 JP6614073 B2 JP 6614073B2
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JP
Japan
Prior art keywords
road surface
frequency component
tire
level
surface state
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
JP2016173733A
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English (en)
Japanese (ja)
Other versions
JP2018040631A5 (enExample
JP2018040631A (ja
Inventor
良佑 神林
高俊 関澤
雅士 森
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 JP2016173733A priority Critical patent/JP6614073B2/ja
Priority to US16/326,939 priority patent/US11565704B2/en
Priority to PCT/JP2017/031838 priority patent/WO2018047780A1/ja
Publication of JP2018040631A publication Critical patent/JP2018040631A/ja
Publication of JP2018040631A5 publication Critical patent/JP2018040631A5/ja
Application granted granted Critical
Publication of JP6614073B2 publication Critical patent/JP6614073B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
    • 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
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/08—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring roughness or irregularity of surfaces
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C19/00—Tyre parts or constructions not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C19/00—Tyre parts or constructions not otherwise provided for
    • B60C2019/004—Tyre sensors other than for detecting tyre pressure
    • 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
    • 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
    • B60W2050/0057—Frequency analysis, spectral techniques or transforms
    • 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
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Environmental Sciences (AREA)
  • Ecology (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Tires In General (AREA)
JP2016173733A 2016-09-06 2016-09-06 路面状態推定装置 Expired - Fee Related JP6614073B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016173733A JP6614073B2 (ja) 2016-09-06 2016-09-06 路面状態推定装置
US16/326,939 US11565704B2 (en) 2016-09-06 2017-09-04 Road surface condition estimation device
PCT/JP2017/031838 WO2018047780A1 (ja) 2016-09-06 2017-09-04 路面状態推定装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016173733A JP6614073B2 (ja) 2016-09-06 2016-09-06 路面状態推定装置

Publications (3)

Publication Number Publication Date
JP2018040631A JP2018040631A (ja) 2018-03-15
JP2018040631A5 JP2018040631A5 (enExample) 2018-12-13
JP6614073B2 true JP6614073B2 (ja) 2019-12-04

Family

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Family Applications (1)

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JP2016173733A Expired - Fee Related JP6614073B2 (ja) 2016-09-06 2016-09-06 路面状態推定装置

Country Status (3)

Country Link
US (1) US11565704B2 (enExample)
JP (1) JP6614073B2 (enExample)
WO (1) WO2018047780A1 (enExample)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2018026111A (ja) * 2016-08-05 2018-02-15 株式会社デンソー タイヤマウントセンサおよびチェーン規制管理システム
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
JP6614073B2 (ja) * 2016-09-06 2019-12-04 株式会社デンソー 路面状態推定装置
JP7009098B2 (ja) * 2017-07-19 2022-01-25 株式会社ブリヂストン 路面状態推定方法
WO2019131568A1 (ja) * 2017-12-27 2019-07-04 株式会社デンソー 路面状態判別装置
JP6791114B2 (ja) * 2017-12-28 2020-11-25 株式会社Ｓｏｋｅｎ 路面状態判別装置
WO2020082352A1 (en) * 2018-10-26 2020-04-30 SZ DJI Technology Co., Ltd. Automated vehicle actions, and associated systems and methods
JP7335713B2 (ja) * 2019-03-28 2023-08-30 株式会社Subaru 路面判定装置
WO2021247016A1 (en) * 2020-06-03 2021-12-09 Sensata Technologies, Inc. Detecting a condition of a road surface
IT202100021680A1 (it) * 2021-08-10 2023-02-10 St Microelectronics Srl Dispositivo e metodo di rilevamento automatico di condizioni stradali per applicazioni veicolistiche
DE102022200159A1 (de) * 2022-01-10 2023-07-13 Robert Bosch Gesellschaft mit beschränkter Haftung Erkennen eines Fahrbahnzustands basierend auf Messdaten einer Inertialsensorik eines Fahrzeugs

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005106728A (ja) * 2003-10-01 2005-04-21 Honda Motor Co Ltd 路面状態検出装置
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
EP1897706B1 (en) * 2005-06-17 2014-12-24 Kabushiki Kaisha Bridgestone Road surface state estimating method, road surface state estimating tire, road surface state estimating device, and vehicle control device
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
JP6281346B2 (ja) * 2014-03-18 2018-02-21 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6273937B2 (ja) 2014-03-18 2018-02-07 株式会社Ｓｏｋｅｎ 路面状況推定装置
JP6408854B2 (ja) * 2014-10-14 2018-10-17 株式会社ブリヂストン 路面状態予測方法
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
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
JP6614073B2 (ja) * 2016-09-06 2019-12-04 株式会社デンソー 路面状態推定装置
US11145142B2 (en) * 2016-09-06 2021-10-12 International Business Machines Corporation Detection of road surface defects
JP2019089532A (ja) * 2017-11-10 2019-06-13 株式会社デンソー 路面状態判別装置

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Publication number Publication date
WO2018047780A1 (ja) 2018-03-15
US11565704B2 (en) 2023-01-31
JP2018040631A (ja) 2018-03-15
US20190185008A1 (en) 2019-06-20

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