JP6663006B2 - 車両の挙動検出装置 - Google Patents
車両の挙動検出装置 Download PDFInfo
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- JP6663006B2 JP6663006B2 JP2018521599A JP2018521599A JP6663006B2 JP 6663006 B2 JP6663006 B2 JP 6663006B2 JP 2018521599 A JP2018521599 A JP 2018521599A JP 2018521599 A JP2018521599 A JP 2018521599A JP 6663006 B2 JP6663006 B2 JP 6663006B2
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- 238000001514 detection method Methods 0.000 title claims description 90
- 230000001133 acceleration Effects 0.000 claims description 56
- 230000005856 abnormality Effects 0.000 claims description 47
- 239000012530 fluid Substances 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
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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
- 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
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T8/32—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 a speed condition, e.g. acceleration or deceleration
- B60T8/88—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 a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—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 a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/06—Sensor zero-point adjustment; Offset compensation
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
-
- 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
- B62J45/412—Speed sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Description
(1)車両の挙動を検出する挙動検出部と、該挙動検出部の異常を検出するための異常検出部とを有する車両の挙動検出装置において、前記挙動検出部は、互いに直交する3軸における3軸方向の加速度および前記3軸のうちの少なくとも2軸回りの角速度をそれぞれ検出可能な第一の多軸慣性センサを備え、前記異常検出部は、複数の他のセンサおよび演算部を備え、前記演算部は電気的に接続された前記第一の多軸慣性センサの検出値と前記複数の他のセンサの検出値とを比較演算し、該比較演算により得られる比較演算値から前記第一の多軸慣性センサの異常を判別することを特徴とする、車両の挙動検出装置。
なお、以下で説明する構成要素および配置等は、本発明を限定するものではなく、本発明の趣旨の範囲内で種々改変することができるものである。
また、異常検出部20は、第一の多軸慣性センサ11の異常の検知をドライバーに知らせるため、例えばアラーム表示やアラーム音のような警報手段80をさらに備えることが好ましい。
11 第一の多軸慣性センサ
20 異常検出部
30 3軸加速度センサ
40 車輪速センサ
50 圧力センサ(またはブレーキ液圧センサ)
60 マイクロコンピュータ(または第1CPU)
60A マイクロコンピュータ(または第2CPU)
70 制動制御装置(またはABS ECU)
80 警報手段
90 出力信号
100 車両の挙動検出装置
Claims (7)
- 車両の挙動を検出する挙動検出部と、
該挙動検出部の異常を検出するための異常検出部と
を有する車両の挙動検出装置において、
前記挙動検出部は、互いに直交する3軸における3軸方向の加速度および前記3軸のうちの少なくとも2軸回りの角速度をそれぞれ検出可能な第一の多軸慣性センサを備え、
前記異常検出部は、複数の他のセンサおよび演算部を備え、前記演算部は電気的に接続された前記第一の多軸慣性センサの検出値と前記複数の他のセンサの検出値とを比較演算し、該比較演算により得られる比較演算値から前記第一の多軸慣性センサの異常を判別し、
前記複数の他のセンサは、
少なくとも車両の垂直方向の加速度、横方向の加速度、およびロールレートを検出可能な第二の多軸慣性センサと、
車輪速センサと、
圧力センサと、を含み、
前記異常検出部が前記第一の多軸慣性センサの検出値と比較演算する前記複数の他のセンサの検出値は、前記第二の多軸慣性センサの検出値、前記車輪速センサが検出する前記車両の車輪速度から演算される前記車両の前後方向の加速度、および前記圧力センサが検出する前記車両のブレーキ液圧から演算される前記車両のピッチレートのうちの少なくとも1つであることを特徴とする、車両の挙動検出装置。 - 前記圧力センサは、前記車両の挙動検出装置が用いられる制動制御装置が備える前記車両のブレーキ液圧を検知可能なブレーキ液圧検知センサであることを特徴とする、請求項1に記載の車両の挙動検出装置。
- 前記異常検出部が異常と判断した場合に、前記制動制御装置が強制的に終了されることを特徴とする、請求項2に記載の車両の挙動検出装置。
- 前記車両は二輪自動車であり、前記車輪速センサは、前記二輪自動車の少なくとも一方の車輪速を検出可能であることを特徴とする、請求項1から3までのいずれか1項に記載の車両の挙動検出装置。
- 前記異常検出部の判別結果を、ドライバーに知らせる警報手段をさらに備えることを特徴とする、請求項1から4までのいずれか1項に記載の車両の挙動検出装置。
- 前記異常検出部の判別結果に応じて、前記第一の多軸慣性センサの出力値を補正するセンサ補正手段をさらに備えることを特徴とする、請求項1から5までのいずれか1項に記載の車両の挙動検出装置。
- 前記挙動検出部は、前記異常検出部が異常と判断した場合に、前記第一の多軸慣性センサの検出値の少なくとも1つを外部に発信しないことを特徴とする、請求項1から6までのいずれか1項に記載の車両の挙動検出装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2015/079405 WO2017097374A1 (en) | 2015-12-11 | 2015-12-11 | Vehicle motion detecting apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019501055A JP2019501055A (ja) | 2019-01-17 |
JP6663006B2 true JP6663006B2 (ja) | 2020-03-11 |
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Application Number | Title | Priority Date | Filing Date |
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JP2018521599A Active JP6663006B2 (ja) | 2015-12-11 | 2015-12-11 | 車両の挙動検出装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10793132B2 (ja) |
JP (1) | JP6663006B2 (ja) |
CN (1) | CN108290553B (ja) |
DE (1) | DE112015006908T5 (ja) |
WO (1) | WO2017097374A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11970176B2 (en) | 2020-12-28 | 2024-04-30 | Honda Motor Co., Ltd. | Abnormality determination device, abnormality determination method, vehicle state estimation device, and non-transitory computer-readable storage medium |
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JP6621774B2 (ja) * | 2017-03-14 | 2019-12-18 | 日信工業株式会社 | バーハンドル車両用ブレーキ液圧制御装置 |
WO2020158485A1 (ja) * | 2019-01-28 | 2020-08-06 | パナソニックIpマネジメント株式会社 | 複合センサおよび角速度補正方法 |
JP2021032801A (ja) * | 2019-08-28 | 2021-03-01 | セイコーエプソン株式会社 | 慣性センサーユニット、電子機器、及び移動体 |
CN114061619B (zh) * | 2021-10-29 | 2023-10-13 | 北京自动化控制设备研究所 | 一种基于在线标定的惯导系统姿态补偿方法 |
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JP2008247053A (ja) | 2007-03-29 | 2008-10-16 | Honda Motor Co Ltd | 車両の制御装置 |
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-
2015
- 2015-12-11 DE DE112015006908.9T patent/DE112015006908T5/de active Pending
- 2015-12-11 US US16/061,274 patent/US10793132B2/en active Active
- 2015-12-11 WO PCT/EP2015/079405 patent/WO2017097374A1/en active Application Filing
- 2015-12-11 CN CN201580085222.0A patent/CN108290553B/zh active Active
- 2015-12-11 JP JP2018521599A patent/JP6663006B2/ja active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US11970176B2 (en) | 2020-12-28 | 2024-04-30 | Honda Motor Co., Ltd. | Abnormality determination device, abnormality determination method, vehicle state estimation device, and non-transitory computer-readable storage medium |
Also Published As
Publication number | Publication date |
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JP2019501055A (ja) | 2019-01-17 |
CN108290553A (zh) | 2018-07-17 |
WO2017097374A1 (en) | 2017-06-15 |
CN108290553B (zh) | 2020-11-03 |
US20180362010A1 (en) | 2018-12-20 |
DE112015006908T5 (de) | 2018-05-24 |
US10793132B2 (en) | 2020-10-06 |
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