JP6762310B2 - オフロード実用車用の予測的シャーシ制御のためのシステム - Google Patents
オフロード実用車用の予測的シャーシ制御のためのシステム Download PDFInfo
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- JP6762310B2 JP6762310B2 JP2017544696A JP2017544696A JP6762310B2 JP 6762310 B2 JP6762310 B2 JP 6762310B2 JP 2017544696 A JP2017544696 A JP 2017544696A JP 2017544696 A JP2017544696 A JP 2017544696A JP 6762310 B2 JP6762310 B2 JP 6762310B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/08—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/16—GPS track data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/182—Active control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Description
減衰特性及び/又はサスペンション特性に関して制御可能である車輪ばねデバイスに加えて、オフロード実用車用の予測的シャーシ制御のための本発明によるシステムは、走行される地表面の状態により車輪ばねデバイスに作用する外乱の力のプロフィルを確認するためのセンサ手段と、関連する位置データの形態でオフロード実用車の現在のジオポジション(geoposition)を確認するためのナビゲーション手段と、外乱によってもたらされた力のプロフィル又はそこから導出された量をそれに対応する位置データを含めて関連するデータ対として制御ユニットが保存する記憶ユニットと、を含み、制御ユニットは、ナビゲーション手段によって利用可能とされるオフロード実用車の現在のジオポジションと保存された位置データとの継続的な照合により外乱の新たな横断が差し迫っていることを検出し、車輪ばねデバイスに対する外乱の影響が少なくとも部分的に補償されるように、保存された力のプロフィルに基づいて、又は、そこから導出された量に基づいて、車輪ばねデバイスのパイロット制御により減衰特性及び/又はサスペンション特性を適応させる。
導出量は、優先的には、それぞれの外乱に割り当てられたカテゴリである。外乱をカテゴリ化することにより、車輪ばねデバイスの駆動に関連するデータ処理のための尽力をさらに減少することが可能になり、これに関して、「不均一な地面での走行」、「起伏のある地面での走行」、「深い溝を越える走行」、「つぼ穴を越える高速走行」、「つぼ穴を越える低速走行」などのカテゴリが考えられる。これに関連して、特定のカテゴリの存在は、捕捉された力のプロフィルの振幅分析及び/周波数分析に基づいて、制御ユニットによって確認され得る。オフロード実用車の移動速度の評価は、関連する車輪速度センサによって捕捉された車輪速度の評価により、既知の態様で行われる。
以下において、添付の図面に基づき、本発明によるシステムをより詳細に説明する。ただ1つの図は、オフロード実用車用の予測的シャーシ制御のための本発明によるシステムの例示的な実施形態を示す。
Claims (8)
- オフロード実用車用の予測的シャーシ制御のためのシステムであって、減衰特性及び/又はサスペンション特性に関して制御可能である車輪ばねデバイス(16)と、走行される地表面(64)の状態により前記車輪ばねデバイス(16)に作用する外乱(66)の力のプロフィル(F(t))を確認するためのセンサ手段(54)と、関連する位置データの形態で前記オフロード実用車の現在のジオポジションを確認するためのナビゲーション手段(60)と、前記外乱(66)によってもたらされた前記力のプロフィル(F(t))又はそこから導出された量をそれに対応する前記位置データを含めて関連するデータ対として制御ユニット(50)が保存する、記憶ユニット(68)とを備え、前記制御ユニット(50)が、前記ナビゲーション手段(60)によって利用可能とされる前記オフロード実用車の現在のジオポジションと保存された位置データとの継続的な照合により前記外乱の新たな横断が差し迫っていることを検出し、前記車輪ばねデバイス(16)に対する前記外乱(66)の影響が少なくとも部分的に補償されるように、前記保存された力のプロフィル(F(t))に基づいて、又は、そこから導出された前記量に基づいて、前記車輪ばねデバイス(16)のパイロット制御により減衰特性及び/又はサスペンション特性を適応させ、
前記制御ユニット(50)が、所定の保存期間の満了に応じて前記記憶ユニット(68)に保存された前記データ対を消去し、
前記保存期間の可変の事前設定が、前記制御ユニット(50)により気象条件に応じて行われる、システム。 - 前記導出された量が、前記各外乱(66)に割り当てられたカテゴリであることを特徴とする、請求項1に記載のシステム。
- 前記センサ手段(54)が、前記車輪ばねデバイス(16)の油圧ばねストラット(22)内に存在する作動圧力を捕捉するための圧力センサ(52)、及び/又は、前記車輪ばねデバイス(16)の領域において車両シャーシ(24)上に生じる垂直加速度を計測するための加速度センサであることを特徴とする、請求項1又は2に記載のシステム。
- 前記ナビゲーション手段(60)が、人工衛星支援GPSナビゲーションシステム(58)であることを特徴とする、請求項1から3のいずれか一項に記載のシステム。
- 前記制御ユニット(50)が、前記外乱(66)の新たな横断に応じて前記記憶ユニット(68)に保存された前記データ対を更新することを特徴とする、請求項1から4のいずれか一項に記載のシステム。
- 前記制御ユニット(50)が、保存の目的のために前記データ対を中央データベース(72)にさらに送信すること、及び/又は、他のユーザにより前記中央データベース(72)に送信されたデータ対を受信することを特徴とする、請求項1から5のいずれか一項に記載のシステム。
- 前記送信が、GSMネットワーク(78)を用いて無線方式で行われることを特徴とする、請求項6に記載のシステム。
- 請求項1から7のいずれか一項に記載の予測的シャーシ制御のためのシステム(10)を含む、オフロード実用車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015205210.9 | 2015-03-23 | ||
DE102015205210.9A DE102015205210A1 (de) | 2015-03-23 | 2015-03-23 | System zur prädiktiven Fahrwerkssteuerung für ein geländegängiges Nutzfahrzeug |
PCT/EP2016/055852 WO2016150820A1 (de) | 2015-03-23 | 2016-03-17 | System zur prädiktiven fahrwerkssteuerung für ein geländegängiges nutzfahrzeug |
Publications (2)
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JP2018509330A JP2018509330A (ja) | 2018-04-05 |
JP6762310B2 true JP6762310B2 (ja) | 2020-09-30 |
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JP2017544696A Active JP6762310B2 (ja) | 2015-03-23 | 2016-03-17 | オフロード実用車用の予測的シャーシ制御のためのシステム |
Country Status (5)
Country | Link |
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US (1) | US11059339B2 (ja) |
EP (1) | EP3274199B1 (ja) |
JP (1) | JP6762310B2 (ja) |
DE (1) | DE102015205210A1 (ja) |
WO (1) | WO2016150820A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102017204239A1 (de) * | 2017-03-14 | 2018-09-20 | Deere & Co. | Verfahren zur Prädiktion einer Topographie-Information |
JP7011553B2 (ja) | 2018-08-10 | 2022-02-10 | 日立Astemo株式会社 | 情報処理装置、車両制御方法、情報処理システム |
JP7127839B2 (ja) * | 2019-02-25 | 2022-08-30 | 公立大学法人広島市立大学 | 予測調整型サスペンション制御システム |
US11358430B2 (en) | 2020-06-16 | 2022-06-14 | Deere & Company | Suspension system with variable roll resistance |
CN113370982B (zh) * | 2021-06-17 | 2023-11-24 | 北京百度网讯科技有限公司 | 路面颠簸区域的检测方法、装置、电子设备及存储介质 |
Family Cites Families (14)
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DE10052787A1 (de) * | 1999-12-10 | 2001-09-13 | Mannesmann Sachs Ag | System zur Fahrwerksabstimmung für Fahrzeuge |
JP2003050605A (ja) * | 2001-08-07 | 2003-02-21 | Mazda Motor Corp | 自動車の制御ゲイン変更用サーバ、自動車の制御ゲイン変更方法、及び、自動車の制御ゲイン変更用プログラム |
US20050085998A1 (en) * | 2002-06-02 | 2005-04-21 | Werner Bless | Provision of route-specific information |
JP4348934B2 (ja) * | 2002-09-25 | 2009-10-21 | アイシン・エィ・ダブリュ株式会社 | 車両のサスペンション制御装置 |
US8589049B2 (en) * | 2007-12-03 | 2013-11-19 | Lockheed Martin Corporation | GPS-based system and method for controlling vehicle characteristics based on terrain |
US20090164063A1 (en) * | 2007-12-20 | 2009-06-25 | International Business Machines Corporation | Vehicle-mounted tool for monitoring road surface defects |
DE102009054460A1 (de) * | 2009-12-10 | 2011-06-16 | Zf Friedrichshafen Ag | Verfahren zur Steuerung eines Fahrwerksystems eines Kraftfahrzeuges |
GB201018815D0 (en) * | 2010-11-08 | 2010-12-22 | Tomtom Int Bv | High-definition weather for improved routing and navigation systems |
US20120203428A1 (en) * | 2011-02-08 | 2012-08-09 | Honda Motor Co., Ltd | Road profile scanning method and vehicle using side facing sensors |
JP5525576B2 (ja) * | 2012-08-24 | 2014-06-18 | 株式会社クボタ | 作業車 |
DE102012017118A1 (de) | 2012-08-29 | 2014-05-15 | GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) | Verfahren und System zum Optimieren des Fahrverhaltens eines Kraftfahrzeuges während der Fahrt |
US20140095023A1 (en) | 2012-09-28 | 2014-04-03 | Tesla Motors, Inc. | Vehicle Air Suspension Control System |
FR3007327B1 (fr) | 2013-06-21 | 2018-02-02 | Psa Automobiles Sa. | Procede et dispositif pour le controle d'un systeme de suspension actif d'un vehicule |
EP3059129B1 (en) * | 2015-02-17 | 2020-04-15 | Hexagon Technology Center GmbH | Method and system for determining a road condition |
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2015
- 2015-03-23 DE DE102015205210.9A patent/DE102015205210A1/de not_active Withdrawn
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2016
- 2016-03-17 WO PCT/EP2016/055852 patent/WO2016150820A1/de active Application Filing
- 2016-03-17 EP EP16711578.1A patent/EP3274199B1/de active Active
- 2016-03-17 JP JP2017544696A patent/JP6762310B2/ja active Active
- 2016-03-17 US US15/560,080 patent/US11059339B2/en active Active
Also Published As
Publication number | Publication date |
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JP2018509330A (ja) | 2018-04-05 |
EP3274199A1 (de) | 2018-01-31 |
EP3274199B1 (de) | 2021-01-06 |
WO2016150820A1 (de) | 2016-09-29 |
DE102015205210A1 (de) | 2016-09-29 |
US20180079271A1 (en) | 2018-03-22 |
US11059339B2 (en) | 2021-07-13 |
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