JP7006870B2 - On-board unit, wind condition transmission method, and wind condition transmission program - Google Patents

Description

The present invention relates to an on-board unit, a wind condition transmission method, and a wind condition transmission program.

There is known a technique for notifying information on strong winds using meteorological information when searching for a movement route in which a moving object such as an automobile moves. For example, a technology has been proposed in which a strong wind area based on meteorological information provided by an organization such as the Japan Meteorological Agency is set on a map, and information on strong winds is notified to occupants of moving objects passing through the set strong wind area. (For example, see Patent Document 1). Further, there is known a technique of using meteorological information indicating a wind direction and a wind speed when searching for a movement route. For example, a technique for searching a movement route in consideration of a traveling load due to a wind using weather information indicating a wind direction and a wind speed has also been proposed (see, for example, Patent Document 2).

By the way, the meteorological information is observed at a fixed point by a meteorological measurement sensor installed at a predetermined position, but the measurement points are scattered in order to obtain a wide range of meteorological information with a small number. On the other hand, in recent years, sudden weather fluctuations that occur in a short period of time have been attracting attention, and meteorological measurements at many points are required. Therefore, there is known a technique of mounting a measurement sensor on a moving body, performing various environmental measurements in addition to meteorological information, and reflecting the measurement on the conditions when the moving body moves. For example, a technique has been proposed in which a measurement sensor such as a precipitation sensor and a camera is mounted on a vehicle, and a traveling condition in which a moving body moves on a traveling path is estimated by using the measurement result (see, for example, Patent Document 3). Further, a technique has been proposed in which it is determined whether or not the wobbling of the moving body is due to the crosswind, and when the wobbling of the moving body is the influence of the crosswind, a technique for notifying the wobbling is caused (see, for example, Patent Document 4).

Japanese Unexamined Patent Publication No. 2011-133427 Japanese Unexamined Patent Publication No. 2012-88204 Special Table 2015-535204 Gazette Japanese Unexamined Patent Publication No. 2014-141191

However, performing meteorological measurements at many points, for example, mounting a special measurement sensor on multiple moving objects to acquire physical quantities related to wind, requires a special configuration for the moving object. , The whole system becomes complicated. Therefore, there is room for improvement in estimating and using physical quantities related to wind in order to understand the effects of wind acting on moving objects with a simple configuration.

The present invention has been made in consideration of the above facts, and an object of the present invention is to provide an on-board unit, a wind condition transmission method, and a wind condition transmission program capable of estimating and using physical quantities related to wind with a simple configuration. And.

In order to achieve the above object, the on-board unit of the present invention is
A position information acquisition unit that acquires position information indicating the current position of the moving object, and
A detection unit that detects the wind pressure of each of the pair of locations separated in the left-right direction in front of the moving body.
A wind estimation unit that estimates physical quantities related to wind around the moving body based on the left and right wind pressures detected by the detection unit.
A transmission unit that transmits the physical quantity related to the wind estimated by the wind estimation unit in association with the position information of the moving body, and a transmission unit.
It is equipped with.

According to the on-board unit of the present invention, the wind estimation unit estimates the physical quantity related to the wind around the moving body based on the left and right wind pressures detected by the detection unit. The transmission unit transmits the physical quantity related to the wind estimated by the wind estimation unit in association with the position information of the moving body acquired by the position information acquisition unit. By attaching this on-board unit to the moving body, it is possible to transmit the physical quantity related to the wind around the moving body, which changes from moment to moment with the movement of the moving body, to the outside of the moving body. This makes it possible to grasp the wind condition in a specific region by using physical quantities related to the wind at a plurality of positions outside the moving body.

In the in-vehicle device,
The detection unit can be a pair of pressure sensors arranged symmetrically in front of the moving body, and the wind estimation unit can be used for the difference in wind pressure detected by the pair of pressure sensors and the sum of the wind pressures. Based on this, the physical quantity related to the wind can be estimated.
Since the detection unit detects the wind pressure in front of the moving body, it is preferable that the detection unit can detect a physical quantity indicating the pressure. Further, for example, when the same aerodynamic force acts from the left direction or the right direction, it is preferable that the sum of the wind pressures detected by the pair of sensors is detected at the same value. Therefore, by detecting the wind pressure in front of the moving body with a pair of pressure sensors arranged symmetrically in front of the moving body, the physical quantity related to the wind that affects the aerodynamic force acting on the moving body is biased in the left-right direction. Can be estimated without.

In the in-vehicle device,
The physical quantity related to the wind can be a physical quantity related to the wind direction and the wind speed.
In this way, by using the physical quantities related to the wind direction and the wind speed, the wind condition can be estimated in detail as the physical quantities related to the wind.

Further, the mobile body motion control device of the present invention is
The wind condition acquisition unit that acquires physical quantities related to the wind around the moving object,
An aerodynamic force estimation unit that estimates the aerodynamic force acting in a direction that changes the behavior of the moving body based on the physical quantity related to the wind acquired by the wind condition acquisition unit.
A behavior prediction unit that predicts the behavior of the moving body that changes according to the action of the aerodynamic force based on the aerodynamic force estimated by the aerodynamic force estimation unit.
A control unit that controls a movement control device that controls the movement of the moving body so that the moving body performs a behavior that cancels the behavior predicted by the behavior prediction unit.
It is equipped with.

According to the moving body motion control device of the present invention, the aerodynamic force estimation unit acts in a direction of changing the behavior of the moving body based on the physical quantity related to the wind around the moving body acquired by the wind condition acquisition unit. Estimate the force. The behavior prediction unit predicts the behavior of a moving body that changes according to the action of the aerodynamic force from the aerodynamic force estimated by the aerodynamic force estimation unit. Then, the control unit controls a motion control device that controls the moving body so that the moving body performs a behavior that cancels the behavior predicted by the behavior prediction unit. In this way, the physical quantity related to the wind around the moving body is acquired, the aerodynamic force is estimated accurately, and the moving body is controlled so as to cancel the behavior of the moving body by using the estimated aerodynamic force. With a simple configuration, it is possible to suppress the influence of the behavior of the moving body according to the aerodynamic force acting on the moving body in a short time.

The mobile body motion control device is
The wind condition acquisition unit may further include a display unit that displays a physical quantity related to the wind.
By displaying the physical quantity related to the wind on the display unit, the occupant of the moving body can easily grasp that the wind may affect the behavior of the moving body.

In the mobile body motion control device,
The physical quantity related to the wind can be a physical quantity related to the wind direction and the wind speed.
In this way, by using the physical quantities related to the wind direction and the wind speed, the wind condition can be predicted in detail as the physical quantities related to the wind.

Further, the wind information prediction device of the present invention is
A wind physical quantity acquisition unit that acquires the position information of each of the plurality of moving bodies transmitted from each of the plurality of moving bodies and the physical quantity related to the wind in the vicinity of each of the plurality of moving bodies.
Based on the position information of each of the plurality of moving bodies acquired by the wind physical quantity acquisition unit and the physical quantity related to the wind, the wind information indicating the physical quantity related to the wind in a specific region including the positions of the plurality of moving bodies is predicted. Wind prediction department and
A storage unit that stores the wind information predicted by the wind prediction unit in association with the specific area, and a storage unit.
It is equipped with.

According to the wind information prediction device of the present invention, the wind physical quantity acquisition unit acquires the position information of each of the plurality of moving objects transmitted from each of the plurality of moving objects and the physical quantity related to the wind around each of the plurality of moving objects. The wind prediction unit predicts wind information indicating the physical quantity related to the wind in a specific region including the positions of the plurality of moving objects, based on the position information of each of the plurality of moving objects acquired by the wind physical quantity acquisition unit and the physical quantity related to the wind. .. Then, the storage unit stores the wind information predicted by the wind prediction unit in association with the specific area. In this way, wind information can be easily predicted by acquiring position information from each of the plurality of moving objects and physical quantities related to the wind in the vicinity thereof.

In the wind information prediction device,
The wind prediction unit further includes a storage unit for accumulating the position information of each of the plurality of moving objects acquired by the wind physical quantity acquisition unit and the physical quantity related to the wind, and the wind prediction unit has the plurality of movements accumulated in the storage unit. The wind information can be predicted by using the position information of each body and the physical quantity related to the wind.
By accumulating the physical quantity related to the position information and the wind, the total amount of the physical quantity related to the wind with respect to the position information can be increased, the data that is the basis for predicting the wind information can be increased, and the prediction accuracy can be improved. ..

Further, in the wind information prediction device,
A reception unit that accepts wind information output requests for the specified area,
An output unit that is stored in the storage unit and outputs the wind information associated with the specific area corresponding to the designated area received by the reception unit.
Can be further prepared.
Wind information in a specific area, for example, local wind information, is useful information for a occupant of a moving body traveling in the specific area and a user who desires to obtain wind information in the specific area. Therefore, by accepting the output request of the wind information of the designated area and outputting the wind information associated with the specific area corresponding to the specified area stored in the storage unit, the occupant of the moving body and the occupant of the moving body and the wind information are output. The wind information can be made available to the user.

In the wind information prediction device,
The physical quantity related to the wind can be a physical quantity related to the wind direction and the wind speed.
In this way, by using the physical quantities related to the wind direction and the wind speed, the wind condition can be estimated in detail as the physical quantities related to the wind.

The wind condition transmission method of the present invention
The computer mounted on the mobile body
Acquire the position information indicating the current position of the moving body, and obtain the position information.
The wind pressure of each of the pair of locations separated in the left-right direction in front of the moving body is detected.
Based on the detected left and right wind pressures, the physical quantity related to the wind around the moving body is estimated.
It includes transmitting the estimated physical quantity related to the wind in association with the position information of the moving body.

The mobile body motion control method of the present invention
The computer mounted on the mobile body
Obtain the physical quantity related to the wind around the moving body and obtain it.
Based on the acquired physical quantity related to the wind, the aerodynamic force acting in the direction of changing the behavior of the moving body is estimated.
Based on the estimated aerodynamic force, the behavior of the moving body that changes according to the action of the aerodynamic force is predicted.
This includes controlling a motion control device that controls the motion of the moving body so that the moving body performs a behavior that cancels the behavior predicted by the behavior predicting unit.

The wind information prediction method of the present invention
The computer
The position information of each of the plurality of mobile bodies transmitted from each of the plurality of mobile bodies and the physical quantity related to the wind in the vicinity of each of the plurality of mobile bodies are acquired.
Based on the acquired position information of each of the plurality of moving bodies and the physical quantity of the wind, the wind information indicating the physical quantity of the wind in a specific region including the positions of the plurality of moving bodies is predicted.
It includes storing the predicted wind information in association with the specific area.

The wind condition output program of the present invention is
The computer is made to function as each part of the on-board unit.

The mobile motion control program of the present invention is
The computer is made to function as each part of the mobile body motion control device.

The wind information prediction program of the present invention
The computer is made to function as each part of the wind information prediction device.

As described above, according to the present invention, it is possible to obtain the effect that the physical quantity related to the wind can be estimated and used with a simple configuration.

It is a block diagram which shows an example of the structure of the information communication system which concerns on embodiment. It is an image diagram which shows the arrangement example of the electronic device mounted on the vehicle which concerns on embodiment, and an example of the coordinate system regarding aerodynamic force. It is a functional block diagram which shows an example of the in-vehicle device installed in the vehicle which concerns on embodiment. It is an image diagram which shows an example of the relationship between a pressure coefficient and a wind direction. It is an image diagram which shows an example of the correspondence relation of the differential pressure and the sum pressure. It is an image diagram showing an example of the correspondence relationship between the differential pressure and the sum pressure by the wind tunnel experiment. It is an image diagram which shows an example of the correspondence relation of the differential pressure and the sum pressure by a prediction formula. It is a block diagram which shows an example of the structure of an on-board unit realized by a computer. It is a flowchart which shows an example of the flow of the wind condition calculation processing in an in-vehicle device. It is a functional block diagram which shows an example of the motion control device installed in the vehicle which concerns on embodiment. It is a block diagram which shows an example of the structure of the motion control device realized by the computer. It is a flowchart which shows an example of the flow of the vehicle behavior control processing in a motion control device. It is a block diagram which shows an example of the structure of the wind information prediction device installed in the cloud part which concerns on embodiment. It is a block diagram which shows an example of the structure of the wind information prediction device 45 realized by a computer. It is a flowchart which shows an example of the flow of the wind condition map processing in a wind information prediction apparatus. It is an image diagram which shows an example of the correspondence relation between the differential pressure represented by an elliptic curve and the sum pressure. It is an image diagram which shows an example of the correspondence relation between the wind direction and the angle φ obtained by the differential pressure and the sum pressure. It is an image diagram which shows the measured value of the differential pressure and the sum pressure acquired during running, and the elliptical approximation curve of the differential pressure and the sum pressure acquired by the wind tunnel experiment at a wind speed of 100 km / h. It is an image diagram which shows the time characteristic of the measured value of the wind direction, and the time characteristic of the estimated value of the wind direction by a differential pressure and a sum pressure. It is an image diagram which shows the time characteristic of the measured value of the wind speed, and the time characteristic of the estimated value of the wind speed by a differential pressure and a sum pressure.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
In the present embodiment, the physical quantity related to the wind around the moving body is estimated, and the movement of the moving body is controlled so as to cancel the behavior of the moving body changed by the aerodynamic force acting on the moving body by the wind. An example will be described. Further, in the present embodiment, a case of controlling the movement of a vehicle such as an automobile will be described as an example of a moving body.

FIG. 1 shows an example of a configuration of an information communication system 1 for exchanging information between a plurality of electronic devices including electronic devices mounted on a vehicle according to the present embodiment.

As shown in FIG. 1, the information communication system 1 includes an electronic device mounted on a vehicle 2 and an electronic device installed in a cloud unit 4, and includes an electronic device on the vehicle 2 side and an electronic device on the cloud unit 4 side. Exchange information with each other.

The vehicle 2 can be equipped with an on-board unit 21 and a motion control device 22 as an example of electronic devices. The on-board unit 21 is connected to a communication unit 23 including a wireless communication antenna and the like, and can communicate with an external device of the vehicle 2 via the communication unit 23. Further, the motion control device 22 is also connected to the communication unit 23 including the wireless communication antenna and the like, and can communicate with the external device of the vehicle 2 via the communication unit 23. In the following description, the moving body equipped with the on-board unit 21 and the motion control device 22 will be referred to as a vehicle 2, and the general moving body equipped with the motion control device 22 will be referred to as a vehicle 3. Further, when it is not necessary to distinguish between the vehicle 2 and the vehicle 3, the vehicle 2 may be generically described.

The cloud unit 4 includes a wireless communication network 41 and a wind information prediction device 45 provided in the cloud 44. The wireless communication network 41 is connected to the wind information prediction device 45 via the network 43. Note that FIG. 1 schematically shows a case where the network 43 is connected to one wind information prediction device 45. That is, the cloud 44 is a so-called cloud, which is an aggregate of electronic devices such as servers and communication devices that communicate with those electronic devices, and functions as a whole of the wind information prediction device 45. In FIG. 1, one wind is used. The connection of the information prediction device 45 is typically shown.

The wireless communication network 41 includes an access point (AP) 42. The wireless communication network 41 exchanges information by wireless communication with the vehicle 2 (communication unit 23 using a wireless communication antenna) via the access point (AP) 42. The wind information prediction device 45 is a device that predicts wind information on the cloud 44 side.

FIG. 2 shows an example of arrangement of electronic devices mounted on the vehicle 2.

As shown in FIG. 2, the vehicle 2 includes an on-board unit 21, a motion control device 22, a communication unit 23, a vehicle speed sensor 24 for measuring vehicle speed, a pressure sensor 25 for measuring wind pressure, a position sensor 26, and a vehicle motion control. The vehicle motion control unit 28 and the display unit 29 are mounted. In the present embodiment, as an example of the pair of pressure sensors 25, a case where pressure sensors are installed in front of the vehicle and at two locations on the left and right in the vehicle width direction will be described. Specifically, the pair of pressure sensors 25 are installed at two locations on the left and right in the vehicle width direction, that is, near the front bumper FBP in front of the vehicle and at different positions on the left and right, the pressure sensor 25L installed on the front left side and the pressure sensor 25 installed on the front right side. The case where the pressure sensor 25R is installed will be described. The vehicle 2 may be equipped with an atmospheric pressure sensor that measures the atmospheric pressure and temperature / humidity around the vehicle.

When the pair of pressure sensors 25 are installed at different positions on the left and right, it is preferable to install the pair of pressure sensors 25 at a symmetrical position or a position in the vicinity thereof in consideration of the left-right balance. Further, the pair of pressure sensors 25 only need to be able to measure the surface pressure in time series. Therefore, the pair of pressure sensors 25 may be directly arranged on the vehicle surface to directly measure the surface pressure, or may be arranged (embedded) inside the vehicle, and the pair of pressure sensors 25 may be communicated with each other from the holes on the vehicle surface to each of the pair of pressure sensors 25. It may be measured via. When the hole is arranged inside the vehicle for measurement, it is preferable that the hole provided on the surface of the vehicle is provided at a symmetrical position or a position in the vicinity thereof as in the case of direct measurement. Further, it is preferable that the pair of pressure sensors 25 function even in rainy weather and in a high temperature environment.

The position sensor 26 is a sensor unit that detects the current position of the vehicle 2. An example of the position sensor 26 is a GPS (Global Positioning System) unit. The GPS unit is a unit that measures coordinate values such as latitude and longitude by receiving radio waves from a plurality of GPS satellites and determining the distance from each GPS satellite.

(On-board unit)
FIG. 3 shows an example of the configuration of the on-board unit 21 installed in the vehicle 2 as a block diagram.
The in-vehicle device 21 installed in the vehicle 2 estimates the physical quantity indicating the wind direction and the wind speed as the physical quantity related to the wind regarding the wind condition around the vehicle 2 based on the sensor output value of the pressure sensor 25.

The on-board unit 21 includes an information acquisition unit 211, a pressure calculation unit 212, a relative wind condition calculation unit 213, and a wind condition calculation unit 214. The input side of the information acquisition unit 211 is connected to the vehicle speed sensor 24, the pressure sensor 25, and the position sensor 26 installed in the vehicle 2. The output side of the information acquisition unit 211 is connected to the communication unit 23 installed in the vehicle 2 via the pressure calculation unit 212, the relative wind condition calculation unit 213, and the wind condition calculation unit 214.

The information acquisition unit 211 is a functional unit that acquires the respective sensor outputs from the vehicle speed sensor 24, the pressure sensor 25, and the position sensor 26 and outputs them to the pressure calculation unit 212.

The pressure calculation unit 212 calculates the differential pressure and the summing pressure of the pressure sensor 25L installed on the left side and the pressure sensor 25R installed on the right side included in the pressure sensor 25, and the calculated differential pressure and the summing pressure are relative to each sensor output. It is a functional unit that outputs to the wind condition calculation unit 213.

In the present embodiment, the pressure calculation unit 212 includes a low-pass filter (not shown) having a predetermined cutoff frequency for noise removal, and uses the pressure value of the sensor output from which noise is removed by the low-pass filter (not shown). .. That is, the pressure calculation unit 212 uses the pressure value which is the output of the pressure sensor 25 from which noise has been removed by a low-pass filter (not shown). Specifically, the pressure calculation unit 212 calculates the sum pressure p _sum by the following equation (1) using the pressure value p _L of the pressure sensor 25 L and the pressure value p _R of the pressure sensor 25 R, and (2). The differential pressure p _diff is calculated by the formula.
p _sum = p _L + p _R ... (1)
p _diff = p _L -p _R ... (2)

Further, in the present embodiment, in order to consider the dynamic pressure based on the combined wind speed due to the vehicle speed and the turbulent wind speed, the pressure value is made dimensionless by using the following equation (3). That is, the sum pressure p _sum of the pressure value p _L of the pressure sensor 25 L and the pressure value p _R of the pressure sensor 25 R is regarded as the dynamic pressure, and the differential pressure p _diff calculated using the equation (2) is calculated by the equation (1). The pressure coefficient Cp _diff is calculated by dividing by the sum pressure p _sum calculated using.
Cp _diff = p _diff / p _sum ... (3)

As described above, by regarding the sum pressure p _sum as the dynamic pressure, it is not necessary to use the vehicle speed [m / s], the atmospheric pressure around the vehicle, and the air flow density [kg / m ³ ] calculated from the temperature and humidity. Therefore, it is not essential to mount a sensor such as an atmospheric pressure sensor.

The relative wind condition calculation unit 213 derives the wind direction β by using the pressure value made non-dimensional by using the equation (3), and the wind speed U by using the differential pressure p _diff and the sum pressure p _sum . In addition, in order to simplify the following explanation, the case where the wind direction and the wind speed are derived on the premise of the straight traveling state while the vehicle 2 is traveling straight will be described.

・・・（４） (Wind direction β)
First, the derivation of the wind direction β will be described.
The wind direction β can be expressed by the following equation (4) using the pressure coefficient Cp _diff .

... (4)

That is, there is a relationship between the wind direction β and the pressure coefficient Cp _diff .

FIG. 4 shows the relationship between the pressure coefficient Cp _diff derived by the wind tunnel experiment and the wind direction β. In addition, FIG. 4 also shows the relationship between the wind direction β according to the above equation (4) and the pressure coefficient Cp _diff . As shown in FIG. 4, it can be understood that the correspondence between the wind direction β according to the above equation (4) and the pressure coefficient Cp _diff corresponds to the relationship between the pressure coefficient Cp _diff derived by the wind tunnel experiment and the wind direction β. .. Therefore, the pressure is obtained by substituting the pressure coefficient Cp _diff obtained by dividing the differential pressure p _diff of the pressure sensor 25L and the pressure sensor 25R detected while the vehicle 2 is running by the sum pressure p _sum into the above equation (4). The wind direction β at the time of detecting the pressure value of the sensor 25 can be derived.

Next, the derivation of the wind speed U will be described. Here, the combined wind speed based on the vehicle speed and the turbulent wind speed will be described.
The wind speed U is derived by using the correspondence between the differential pressure p _diff and the sum pressure p _sum of the left and right pressure sensors 25 and the wind speed U. That is, the wind speed U derives the correspondence between the differential pressure p _diff and the sum pressure p _sum of the left and right pressure sensors 25 in advance, and calculates using the derived correspondence. The correspondence between the differential pressure p _diff and the sum pressure p _sum can be derived in advance by a wind tunnel experiment and a flow simulation calculation.

FIG. 5 shows an example of the correspondence between the differential pressure p _diff and the sum pressure p _sum obtained in advance from the wind tunnel experiment. In the example shown in FIG. 5, the correspondence between the differential pressure p _diff and the sum pressure p _sum can be expressed by the elliptical equation shown in the following equation (5).

The center point (x ₀ , y ₀ ) of the ellipse represented by the equation (5) and the constants a and b depend on the positions and intervals of the left and right pressure sensors 25 and the shape of the vehicle 2. Therefore, the center point (x ₀ , y ₀ ) of the ellipse and the constants a and b should be tested in advance so as to correspond to the positions and intervals of the left and right pressure sensors 25 installed in the vehicle 2 and the shape of the vehicle 2. It is preferable to go and set.

Here, consider a wind condition in which the differential pressure between the pressure sensor 25L and the pressure sensor 25R detected at a certain time while the vehicle 2 is running is p _diff (t) and the sum pressure is p _sum (t). FIG. 5 shows a case where the point X is hit as a wind condition. In this case, the straight line OX passing through the point O (x _o , 0) and the point X indicating the wind condition can be expressed by the following equation (6).
p _sum = α ・ (p _diff -x _o ) ・ ・ ・ (6)
However, α = p _sum (t) / (p _diff (t) −x _o ).

The intersection Y (p _{diff_ref} , p _{sum_ref} ) between this straight line OX and the curve represented by the equation (5) is obtained.

Here, the ratio of the distance OX to the distance OY from the point O (x _o , 0) to the intersection Y is the dynamic pressure at the wind speed U at a certain time while the vehicle 2 is running and the predetermined wind speed U _ref measured in advance. Corresponds to the ratio of. Therefore, it has the relationship of the following equation (7).

Therefore, the wind speed U can be derived using the following equation (8).

FIG. 6 shows an example of the correspondence between the differential pressure p _diff and the sum pressure p _sum obtained from the wind tunnel experiment conducted by changing the deviation angle with the wind speeds of different vehicle speeds. Further, FIG. 7 shows an example of the correspondence between the differential pressure p _diff and the sum pressure p _sum derived by using the prediction formula by the formula (7). In the example shown in FIG. 7, the equation (5) was identified by the experimental data at a vehicle speed of 100 [km / h], and the other curves were determined by using the equation (7). As shown in FIGS. 6 and 7, the correspondence between the differential pressure p _diff and the sum pressure p _sum obtained in advance from the wind tunnel experiment, and the differential pressure p _diff and the sum pressure derived using the equation (7). It can be confirmed that the correspondence relationship of p _sum is close and that it is highly effective to estimate the wind speed U using the equation (8).
The air pressure density ρ around the vehicle during driving was measured using an in-vehicle atmospheric pressure sensor and thermo-hygrometer, and the ratio (ρ _ref / ρ) ^1/2 to the air pressure density ρ _ref during the wind tunnel experiment was (ρ ref / ρ) 1/2. By multiplying the right side of equation 8) as a coefficient, it is possible to estimate the wind speed with even higher accuracy.

As described above, the relative wind condition calculation unit 213 shown in FIG. 3 derives the wind direction β and the wind speed U.

Next, the wind condition calculation unit 214 will be described.
The wind direction β and the wind speed U derived by the relative wind condition calculation unit 213 are the relative wind direction β and the wind speed U with respect to the vehicle 2. Therefore, the wind condition calculation unit 214 derives, for example, the wind direction β _w and the wind speed U _w with respect to the fixed coordinate system based on the ground surface by using the vehicle speed U _car . The wind direction β _w and the wind speed U _w with respect to the fixed coordinate system can be expressed by the following equations (9) and (10).

Therefore, the wind condition calculation unit 214 derives the wind direction β _w and the wind speed U _w by using the equations (9) and (10). Then, the wind condition calculation unit 214 outputs the derived wind direction β _w and wind speed U _w to the communication unit 23.

In this case, the wind condition calculation unit 214 outputs the position information detected by the position sensor 26 in association with the derived wind direction β _w and wind speed U _w . This is to specify the positions of the derived wind direction β _w and wind speed U _w .

The communication unit 23 transmits the wind direction β _w and the wind speed U _w associated with the position information input from the wind condition calculation unit 214 to the outside, that is, to the wind information prediction device 45. The wind information prediction device 45 creates a dynamic map of the wind condition using the wind direction β _w and the wind speed U _w associated with the position information transmitted from the vehicle-mounted device 21 (details will be described later).

In this way, the on-board unit 21 can derive the wind direction β _w and the wind speed U _w by using the differential pressure p _diff and the sum pressure p _sum of the wind pressure by the pair of pressure sensors 25, so that it is not necessary to use a dedicated measuring device. The wind condition around the vehicle 2 can be notified to the outside of the vehicle 2.

In the above description, the derivation of the wind direction and the wind speed has been described on the premise of the straight traveling state while the vehicle 2 is traveling straight, but the derivation of the wind direction and the wind speed is limited to the case where the vehicle 2 is traveling straight. It's not a thing. For example, when the vehicle 2 travels without following the travel path such as a lane change, a sensor such as a camera detects that the vehicle 2 is traveling without following the travel path, and the detected deviation amount is δβ _w . It can be obtained as and corrected by Eq. ( 9 ).

The on-board unit 21 described above can be realized by a computer configuration.
FIG. 8 shows an example of a configuration in which the on-board unit 21 according to the present embodiment is realized by a computer.
As shown in FIG. 8, the computer operating as the on-board unit 21 includes a CPU (Central Processing Unit) 21A, a RAM (Random Access Memory) 21B, and a device main body 21X including a ROM (Read Only Memory) 21C. Has been done. The ROM 21C includes a wind condition calculation program 21P for deriving a wind direction β _w and a wind speed U _w using the sensor output from the pressure sensor 25. The apparatus main body 21X includes an input / output interface (I / O) 21D, and the CPU 21A, RAM 21B, ROM 21C, and I / O 21D are connected via a bus 21E so that commands and data can be exchanged. Further, a vehicle speed sensor 24 for measuring vehicle speed, a pair of left and right pressure sensors 25 for measuring wind pressure, a non-volatile memory 22M, and a communication unit 23 are connected to the I / O 21D.

The device main body 21X operates as an on-board unit 21 when the wind condition calculation program 21P is read from the ROM 21C and expanded in the RAM 21B, and the wind condition calculation program 21P expanded in the RAM 21B is executed by the CPU 21A. The wind condition calculation program 21P includes a process for realizing various functions for deriving the wind direction β _w and the wind speed U _w using the sensor output from the pressure sensor 25 (details will be described later).

FIG. 9 shows an example of the processing flow by the wind condition calculation program 21P in the vehicle-mounted device 21 realized by the computer. In the apparatus main body 21X, the wind condition calculation program 21P is read from the ROM 21C and expanded in the RAM 21B, and the CPU 21A executes the wind condition calculation program 21P expanded in the RAM 21B.

First, in step S100, the vehicle speed measured by the vehicle speed sensor 24, the pressure measured by the pair of pressure sensors 25, and the sensor output measured by the position sensor 26 are acquired. The process of step S100 corresponds to the operation of the information acquisition unit 211 shown in FIG.

In the next step S102, the pressure calculation process is executed. That is, in step S102, a process of calculating the differential pressure and the sump pressure of the pair of pressure sensors 25 is executed. Specifically, the sum pressure p _sum is calculated using the equation (1), the differential pressure p _diff is calculated using the equation (2), and the pressure coefficient Cp _diff is calculated using the equation (3). The process of step S102 corresponds to the operation of the pressure calculation unit 212 shown in FIG.

In the next step S104, the relative wind direction β and the wind speed U with respect to the vehicle 2 are derived. Specifically, the wind direction β is derived using the equation (4), and the wind speed U is derived using the equation (8). The process of step S104 corresponds to the operation of the relative wind condition calculation unit 213 shown in FIG.

In the next step S106, the wind direction β _w and the wind speed U _w with respect to the ground fixed coordinate system are derived. Specifically, the wind direction β _w is derived using the equation (9), and the wind speed U _w is derived using the equation (10). The process of step S106 corresponds to the operation of the wind condition calculation unit 214 shown in FIG. Further, in step S106, a process of associating the derived position information detected by the position sensor 26 with the derived wind direction β _w and wind speed U _w is also executed.

In the next step S108, the wind direction β _w and the wind speed U _w associated with the position information are output. Specifically, the wind direction β _w and the wind speed U _w associated with the position information detected by the position sensor 26 are transmitted from the communication unit 23 to be output to the outside of the vehicle-mounted device 21.

In step S110, it is determined whether or not the end instruction has been given due to power cutoff or the like, and if a negative determination is made, the process is returned to step S100. If an affirmative decision is made in step S110, the processing routine is terminated.

As described above, according to the vehicle-mounted device 21 of the present embodiment, the wind direction β _w and the wind speed U _w can be derived by using the pressures of the pair of pressure sensors 25 installed at different positions on the left and right measured in front of the vehicle. The wind condition around the vehicle 2 can be notified to the outside of the vehicle 2 without the need to use a dedicated measuring device.

In the vehicle-mounted device 21 according to the present embodiment, each component may be constructed by hardware such as an electronic circuit having each function described above, and at least a part of each component may be constructed. , It may be constructed so as to realize the function by a computer.

Further, the pair of pressure sensors 25 according to the present embodiment is not limited to the pressure sensors 25L and the pressure sensors 25R installed near the front bumper FBP in front of the vehicle and at different positions on the left and right.

(Motor control device)
Next, the motion control device 22 installed in the vehicle 2 will be described.
FIG. 10 shows an example of the configuration of the motion control device 22 installed in the vehicle 2 as a block diagram.
The motion control device 22 is a device that controls the motion of the vehicle 2 so as to suppress the behavior of the vehicle 2 that changes due to the aerodynamic force acting on the vehicle 2 due to the wind. In this embodiment, a case where the movement of the vehicle 2 is controlled by using the wind direction β _w and the wind speed U _w from the wind information prediction device 45, which will be described in detail later, will be described.

The motion control device 22 includes an information acquisition unit 221, an aerodynamic force calculation unit 222, a vehicle motion calculation unit 223, and a display control unit 224. The input side of the information acquisition unit 221 is connected to the vehicle speed sensor 24 installed in the vehicle 2, the communication unit 23 that receives the wind direction β _w and the wind speed U _w from the wind information prediction device 45, and the position sensor 26. The output side of the information acquisition unit 221 is connected to the vehicle motion control unit 28 installed in the vehicle 2 via the aerodynamic force calculation unit 222 and the vehicle motion calculation unit 223. Further, the output side of the information acquisition unit 221 is also connected to the display unit 29 installed in the vehicle 2 via the display control unit 224.

The information acquisition unit 221 acquires information from the vehicle speed sensor 24, the communication unit 23 that receives the wind direction β _w and the wind speed U _w from the wind information prediction device 45, and the position sensor 26, and displays the aerodynamic force calculation unit 222 and the display. It is a functional unit that outputs to the control unit 224.

The aerodynamic force calculation unit 222 calculates the aerodynamic force using the vehicle speed U _car of the own vehicle, the wind direction β _w and the wind speed U _w acquired from the wind information prediction device 45 on the cloud side, and shows the calculated aerodynamic force. It is a functional unit that outputs information to the vehicle motion calculation unit 223. The vehicle motion calculation unit 223 is a functional unit that calculates a vehicle motion control amount that cancels or suppresses the behavior of the vehicle that changes according to the action of the input aerodynamic force and outputs it to the vehicle motion control unit 28. The vehicle motion control unit 28 is a functional unit that performs vehicle motion control such as steering control, braking control, and engine control that affect the behavior of the vehicle.

In the present embodiment, the aerodynamic force calculation unit 222 calculates, for example, the lateral force and the yaw moment using the vehicle speed U _car of the own vehicle and the wind direction β _w and the wind speed U _w acquired from the wind information prediction device 45 on the cloud side. do. The process of calculating the vehicle motion control amount by calculating the lateral force, the yaw moment, etc. using the vehicle speed U _car , the wind direction β _w , and the wind speed U _w is described in Japanese Patent Application Laid-Open No. 7-47968. Since it is a well-known technique, detailed description thereof will be omitted.

Further, in the present embodiment, the vehicle motion calculation unit 223 outputs the vehicle motion control amount of the calculation result to the vehicle motion control unit 28, and the vehicle motion control amount of the calculation result exceeds a predetermined threshold value. In some cases, it has a function of outputting a signal that activates the vehicle motion control unit 28 so that it can be operated immediately. For example, the vehicle motion calculation unit 223 compares the position indicating the wind direction β _w and the wind speed U _w acquired from the wind information prediction device 45 on the cloud side with the current position, and sets the position indicating the wind direction β _w and the wind speed U _w . When approaching, a signal for activating the vehicle motion control unit 28 so that it can be immediately operated is output in advance. In this case, the vehicle motion calculation unit 223 determines that the behavior change of the vehicle 2 exceeds a predetermined amount due to the vehicle speed U _car of the own vehicle, the wind direction β _w and the wind speed U _w acquired from the wind information prediction device 45 on the cloud side. In addition, a signal for activating the vehicle motion control unit 28 so that it can be immediately operated may be output in advance so that the vehicle motion control unit 28 can respond quickly. Therefore, in a general vehicle 3 provided with the vehicle motion control unit 28, the vehicle motion control unit 28 obtains the vehicle speed U _car of the own vehicle and the wind direction β _w and the wind speed U _w from the wind information prediction device 45. We can respond quickly.

Further, the information from the vehicle speed sensor 24, the communication unit 23 that receives the wind direction β _w and the wind speed U _w from the wind information prediction device 45, and the position sensor 26 acquired by the information acquisition unit 221 is sent to the display control unit 224. Is also output. The display control unit 224 is connected to the display unit 29, and controls the display unit 29 to display the information acquired by the information acquisition unit 221. For example, the display control unit 224 controls the display unit 29 to display a warning when the wind direction β _w and the wind speed U _w acquired from the wind information prediction device 45 on the cloud side exceed a predetermined threshold value. , The occupants of the vehicle can confirm that the wind due to the wind direction β _w and the wind speed U _w acts on the vehicle.

The motion control device 22 described above can be realized by a computer configuration.
FIG. 11 shows an example of a configuration in which the motion control device 22 according to the present embodiment is realized by a computer.
As shown in FIG. 11, the computer operating as the motion control device 22 includes a device main body 22X including a CPU 22A, a RAM 22B, and a ROM 22C. The ROM 22C includes a vehicle behavior control program 22P that performs processing according to the vehicle speed U _car , the wind direction β _w , and the wind speed U _w of the own vehicle. The apparatus main body 22X includes an input / output interface (I / O) 22D, and the CPU 22A, RAM 22B, ROM 22C, and I / O 22D are connected via a bus 22E so that commands and data can be exchanged. Further, the non-volatile memory 22M, the vehicle speed sensor 24 for measuring the vehicle speed, the position sensor 26, the vehicle motion control unit 28, the display unit 29, and the communication unit 23 are connected to the I / O 22D.

The device main body 22X operates as a motion control device 22 by reading the vehicle behavior control program 22P from the ROM 22C and expanding it into the RAM 22B, and executing the vehicle behavior control program 22P expanded in the RAM 22B by the CPU 22A.

FIG. 12 shows an example of the flow of processing by the vehicle behavior control program 22P in the motion control device 22 realized by a computer. In the device main body 22X, the vehicle behavior control program 22P is read from the ROM 22C and expanded in the RAM 22B, and the CPU 22A executes the vehicle behavior control program 22P expanded in the RAM 22B.

First, in step S200, information acquisition processing is executed from the vehicle speed sensor 24, the communication unit 23 that receives the wind direction β _w and the wind speed U _w from the wind information prediction device 45, and the position sensor 26. The process of step S200 corresponds to the operation of the information acquisition unit 221 shown in FIG.

In the next step S202, a display control process for displaying on the display unit 29 that at least the wind direction β _w and the wind speed U _w from the wind information prediction device 45 are received is executed. That is, in step S202, for example, when the acquired wind direction β _w and wind speed U _w exceed a predetermined threshold value, the display unit 29 is controlled so as to display a warning. This allows the occupants of the vehicle to confirm that the wind due to the wind direction β _w and the wind speed U _w acts on the vehicle. The process of step S202 corresponds to the operation of the display control unit 224 shown in FIG.

In the next step S204, the vehicle speed U _car of the own vehicle, the wind direction β _w , and the wind speed U _w are used to derive, for example, the moment and aerodynamic force acting on the vehicle. The process of step S204 corresponds to the operation of the aerodynamic force calculation unit 222 shown in FIG.

Next, in step S206, a vehicle motion calculation process is executed in which the behavior of the vehicle that changes according to the calculated aerodynamic force is predicted, and the predicted behavior of the vehicle is offset or suppressed. In the present embodiment, step S206 outputs a signal that activates the vehicle motion control unit 28 so that the vehicle motion control unit 28 can be immediately operated when the vehicle motion control amount of the calculation result exceeds a predetermined threshold value. For example, the acquired position indicating the wind direction β _w and the wind speed U _w is compared with the current position, and the vehicle motion control unit 28 can be immediately operated when approaching the position indicating the wind direction β _w and the wind speed U _w . The signal to activate is output in advance. As a result, even in a general vehicle 3 provided with the vehicle motion control unit 28, the vehicle motion control unit 28 can be quickly activated by acquiring the wind direction β _w and the wind speed U _w from the wind information prediction device 45. Can be done. The process of step S206 corresponds to the operation of the vehicle motion calculation unit 223 shown in FIG.

In the next step S208, it is determined whether or not the termination instruction has been given due to power cutoff or the like, and if a negative determination is made, the process is returned to step S200. If an affirmative decision is made in step S208, this processing routine is terminated.

As described above, according to the motion control device 22 of the present embodiment, by acquiring the wind direction β _w and the wind speed U _w from the wind information prediction device 45, it is possible to notify the occupants of the wind condition around the vehicle 2. Also, the vehicle motion control unit 28 can be activated quickly.

In the motion control device 22 according to the present embodiment, each component may be constructed by hardware such as an electronic circuit having each function described above, and at least a part of each component may be constructed. May be constructed so as to realize the function by a computer.

(Wind information prediction device)
Next, the wind information prediction device 45 installed in the cloud unit 4 will be described.
FIG. 13 shows an example of the configuration of the wind information prediction device 45 installed in the cloud unit 4 as a block diagram.
The wind information prediction device 45 is a device having a function of accumulating the wind conditions transmitted from the vehicle 2, that is, the wind direction β _w and the wind speed U _w , and creating a dynamic map of the wind conditions. Further, the wind information prediction device 45 also has a function of notifying the vehicle 2 and the vehicle 3 of the wind direction β _w and the wind speed U _w around the traveling area by using the created dynamic map of the wind condition.

The wind information prediction device 45 includes an information acquisition unit 451, a determination unit 452, a registration unit 453, and an extraction unit 454. The input side of the information acquisition unit 451 is connected to the wireless communication network 41. The wireless communication network 41 connected to the input side of the information acquisition unit 451 functions as an input unit 41A into which information is input.

The wireless communication network 41 functioning as the input unit 41A receives the information 47 indicating the provision of wind condition information, that is, the information indicating the wind direction β _w and the wind speed U _w from the vehicle 2, and outputs the information to the information acquisition unit 451. It has become. Further, the wireless communication network 41 that functions as the input unit 41A receives the information 48 indicating the request for wind condition information and outputs it to the information acquisition unit 451. An example of the information 48 indicating the request for wind condition information includes request information for requesting information indicating the wind direction β _w and the wind speed U _w in the region around the traveling point from the traveling vehicle 2. In addition, as another example of the information 48 indicating the request for wind condition information, the provision of information indicating the wind direction β _w and the wind speed U _w in the peripheral area around the point where the access point (AP) 42 is installed is periodically requested. Request information to be given.

The output side of the information acquisition unit 451 is connected to the wireless communication network 41 via the determination unit 452 and the extraction unit 454. The wireless communication network 41 connected via the extraction unit 454 functions as an output unit 41B from which information is output. The wireless communication network 41 functioning as the output unit 41B is adapted to output wind condition information 49 extracted from a dynamic map whose details will be described later, that is, information indicating a wind direction β _w and a wind speed U _w . Further, the determination unit is connected to the storage unit 46 that stores the dynamic map of the wind condition via the registration unit 453, and this storage unit 46 is also connected to the extraction unit 454.

The information acquisition unit 451 is a functional unit that acquires information 47 indicating the provision of wind condition information or information 48 indicating a request for wind condition information from the wireless communication network 41 functioning as the input unit 41A and outputs the information 48 to the determination unit 452. ..

The determination unit 452 is a functional unit that determines whether the information input to the wind information prediction device 45 is the information 47 indicating the provision of wind condition information or the information 48 indicating the request for wind condition information.

When the information input to the wind information prediction device 45 is the information 47 indicating the provision of wind condition information, the information 47, that is, the information indicating the wind direction β _w and the wind speed U _w from the vehicle 2, is the determination unit 452 and It is stored in the storage unit 46 via the registration unit 453. Specifically, the determination unit 452 outputs the information 47 indicating the provision of the wind condition information to the registration unit 453. The registration unit 453 registers the information indicating the wind direction β _w and the wind speed U _w associated with the position information from the vehicle 2 in the storage unit 46, and creates a dynamic map of the wind condition. That is, the registration unit 453 registers a record in which the position is associated with the wind direction β _w and the wind speed U _w at the position in the database. Then, among the registered records, the wind direction β _w and the wind speed U _w included in the predetermined area are averaged, the maximum value or the minimum value is specified, or the estimation process such as the Kalman filter is performed to perform two-dimensional processing. Create (update) a dynamic map of wind conditions showing the wind direction β _w and the wind speed U _w for each predetermined region developed on the surface.

On the other hand, when the information input to the wind information prediction device 45 is the information 48 indicating the request for wind condition information, the location where the wind condition information 49 indicating the wind direction β _w and the wind speed U _w based on the information 48 is requested. That is, it is output to the request source of the information 48. Specifically, the determination unit 452 outputs the position information (where the wind condition information is requested) included in the information 48 indicating the request for the wind condition information to the extraction unit 454. The extraction unit 454 searches the dynamic map of the wind condition stored in the storage unit 46 using the position information from the determination unit 452 as a key, and outputs the wind condition information 49 indicating the corresponding wind direction β _w and wind speed U _w . Output to the wireless communication network 41 that functions as unit 41B. This makes it possible to easily provide wind condition information indicating the wind direction β _w and the wind speed U _w acquired from the vehicle 2 upon request.

The wind information prediction device 45 described above can be realized by a computer configuration.
FIG. 14 shows an example of a configuration in which the wind information prediction device 45 according to the present embodiment is realized by a computer.
As shown in FIG. 14, a computer operating as a wind information prediction device 45 includes a device main body 45X including a CPU 45A, a RAM 45B, and a ROM 45C. The ROM 45C includes a wind condition map program 45P that performs a process of creating (updating) and referencing a dynamic map of the wind condition. The apparatus main body 45X includes an input / output interface (I / O) 45D, and the CPU 45A, RAM 45B, ROM 45C, and I / O 45D are connected via a bus 45E so that commands and data can be exchanged. Further, a storage unit 46 and a wireless communication network 41 are connected to the I / O 45D.

The device main body 45X operates as a wind information prediction device 45 when the wind condition map program 45P is read from the ROM 45C and expanded in the RAM 45B, and the wind condition map program 45P expanded in the RAM 45B is executed by the CPU 45A.

FIG. 15 shows an example of the flow of processing by the wind condition map program 45P in the wind information prediction device 45 realized by a computer. In the apparatus main body 45X, the wind condition map program 45P is read from the ROM 45C and expanded in the RAM 45B, and the CPU 45A executes the wind condition map program 45P expanded in the RAM 45B.

First, step S400 executes an information acquisition process for acquiring information, that is, information 47 and information 48 from the wireless communication network 41 that functions as the input unit 41A. The process of step S400 corresponds to the operation of the information acquisition unit 451 shown in FIG.

In the next step S402, it is determined whether or not the information acquired in step S400 is the information 47 indicating the provision of wind condition information, and if it is affirmative, the process proceeds to step S404. The process of step S402 corresponds to the operation of the determination unit 452 shown in FIG.

In step S404, the wind condition information indicating the wind direction βw and the wind speed Uw associated with the position information from the vehicle 2 is acquired, and in the next step S406, the wind condition information indicating the wind direction βw and the wind speed Uw associated with the position information is acquired. Is stored in the storage unit 46, and this processing routine is terminated. The processing of steps S404 and S406 corresponds to the operation of the registration unit 463 shown in FIG.

On the other hand, if a negative determination is made in step S402, the process proceeds to step S408. In step S408, it is determined whether or not the information acquired in step S400 is the information 48 indicating the request for wind condition information. End the routine. The process of step S408 corresponds to the operation of the determination unit 452 shown in FIG.

In step S410, the position information included in the information 48 indicating the request for wind condition information (the wind condition information is requested) is acquired, and in the next step S412, the wind direction β _w and the wind speed U _w corresponding to the position information are obtained. The wind condition information 49 to be shown is acquired. Then, the acquired wind condition information 49 is output to the requester. That is, in step S412, the dynamic map of the wind condition stored in the storage unit 46 is searched using the position information as a key, the wind condition information indicating the corresponding wind direction β _w and the wind speed U _w is searched, and the wind in the search result is searched. The status information 49 is output. The processing from step S410 to step S414 corresponds to the operation of the extraction unit 454 shown in FIG.

As described above, according to the wind information prediction device 45 of the present embodiment, information indicating the wind direction β _w and the wind speed U _w is provided from the vehicle 2, is registered in the database in the storage unit 46, and the registered records are used. By specifying the wind direction β _w and the wind speed U _w in a predetermined region, it is possible to create a dynamic map of the wind condition developed on a two-dimensional surface. Further, by searching the dynamic map of the wind condition stored in the storage unit 46 using the position information as a key, the wind condition information indicating the wind direction β _w and the wind speed U _w acquired from the vehicle 2 can be easily obtained upon request. Can be provided to.

(Modification example)
Next, a modification of the present embodiment will be described.
In the above embodiment, the relational expression ((4)) between the wind direction β and the pressure coefficient Cp _diff is also referred to by the pressure coefficient Cp _diff derived from the differential pressure p _diff of the pressure sensor 25L and the pressure sensor 25R and the sum pressure p _sum . ) Was used to derive the wind direction β. However, the disclosed technique is not limited to deriving the pressure coefficient Cp _diff and then deriving the wind direction β using the relational expression. In the modified example, the wind direction β is derived by using the differential pressure p _diff and the sum pressure p _sum of the pressure sensor 25L and the pressure sensor 25R.

As described above, in the correspondence between the differential pressure p _diff represented by the elliptic curve and the sum pressure p _sum (see also FIGS. 5 to 7), the distance from the point O is proportional to the square of the wind speed U. (See also equations (7) and (8)).

FIG. 16 shows an example of the correspondence between the differential pressure p _diff represented by the elliptic curve and the sum pressure p _sum .
In the example shown in FIG. 16, the case where the relationship between the differential pressure p _diff and the sum pressure p _sum detected by the pressure sensor is obtained as the point Xp is shown. In this case, if the correspondence between the differential pressure p _diff and the sum pressure p _sum measured at a wind speed of 100 km / h is set as a reference (ref), the distance L from the point O to the point Xp and the distance L _ref to the reference are It is proportional to the square of the wind speed.

Here, the direction toward the point Xp corresponds to the wind direction β. That is, the wind direction β corresponds to the angle φ formed by the vector by the differential pressure p _diff and the sum pressure p _sum and the axis of the differential pressure p _diff with the value of the sum pressure p _sum as 0. The correspondence between the wind direction β and the angle φ can be obtained in advance by an experiment or an analysis process. For a plurality of different correspondences between the obtained wind direction β and the angle φ, for example, the correspondence between the wind direction β and the angle φ is determined by approximating with a polynomial as shown in (11) below.

β = f (φ) ・ ・ ・ (11)

FIG. 17 shows an example of the correspondence between the wind direction β and the angle φ.
In the example shown in FIG. 17, the function f of the above equation (11) is set so as to match the correspondence obtained by the experiment or the analysis process in advance.

FIG. 18 shows the relationship between the elliptical approximation curve based on the differential pressure p _diff and the sum pressure p _sum and the measured values. In the example of FIG. 18, the data acquired in a vehicle traveling constantly at 100 km / h while receiving a headwind (referred to as actual driving data in FIG. 18), and the differential pressure p _diff and the sum pressure p _sum from the wind tunnel experiment. The correspondence relationship approximated by an ellipse is shown by the curve Oval. As shown in FIG. 18, the correspondence between the elliptical approximation curve and the actual running data is understood.

FIG. 19 shows the time characteristics of the measured values of the wind direction β acquired in a vehicle traveling constantly at 100 km / h while receiving a headwind, and the estimated values of the wind direction β calculated by the differential pressure p _diff and the sum pressure p _sum acquired at the same time. Shows time characteristics. In the example of FIG. 19, the time characteristic of the measured value is shown by βreal, and the time characteristic of the estimated value is shown by βest. As shown in FIG. 19, it is understood that the wind direction β estimated from the wind conditions due to the differential pressure p _diff and the sum pressure p _sum fits the measured value.

FIG. 20 shows the time characteristics of the measured values of the wind speed U acquired in a vehicle traveling constantly at 100 km / h while receiving a headwind, and the time characteristics of the estimated values calculated by the differential pressure p _diff and the sum pressure p _sum acquired at the same time. Is shown. In the example of FIG. 20, the time characteristic of the measured value is shown by Ureal, and the time characteristic of the estimated value is shown by Uest. As shown in FIG. 20, it is understood that the wind speed U estimated from the wind conditions due to the differential pressure p _diff and the sum pressure p _sum fits the measured value.

As described above, in the method of deriving the wind direction β using the pressure coefficient Cp _diff (see equation (4)), the wind direction β is derived from the angle φ of the vector represented by the detected differential pressure p _diff and sum pressure p _sum . Is equivalent to deriving. Further, the wind speed U can also be derived from the distance from the point O, which is the scalar quantity of the vector due to the differential pressure p _diff and the sum pressure p _sum .

In the wind information prediction device 45 according to the present embodiment, each component may be constructed by hardware such as an electronic circuit having each function described above, and at least one of the components may be constructed. The unit may be constructed so as to realize the function by a computer.

Further, although the present invention has been described using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. Various changes or improvements can be made to the above embodiments without departing from the gist of the invention, and the modified or improved embodiments are also included in the technical scope of the present invention.

1 Information communication system 2, 3 Vehicle 4 Cloud unit 21 In-vehicle device 21P Wind condition calculation program 22 Motion control device 22P Vehicle behavior control program 23 Communication unit 24 Vehicle speed sensor 25 Pressure sensor 25L, 25R Pressure sensor 26 Position sensor 28 Vehicle motion control unit 29 Display unit 41 Wireless communication network 45 Wind information prediction device 45P Wind condition map program 46 Storage unit 47, 48 Information 49 Wind condition information 211 Information acquisition unit 212 Pressure calculation unit 213 Relative wind condition calculation unit 214 Wind condition calculation unit 221 Information acquisition Part 222 Pneumatic force calculation unit 223 Vehicle motion calculation unit 224 Display control unit 451 Information acquisition unit 452 Judgment unit 453 Registration unit 454 Extraction unit 463 Registration unit β Wind direction (vehicle fixed coordinate system)
β _w Wind direction (fixed ground coordinate system)
U wind speed (vehicle fixed coordinate system)
U _w wind speed (fixed ground coordinate system)
U _car vehicle speed p _diff differential pressure p _{sum sum} pressure

Claims (4)

A position information acquisition unit that acquires position information indicating the current position of the moving object, and
A detection unit that detects the wind pressure of each of the pair of locations separated in the left-right direction in front of the moving body.
A wind estimation unit that estimates physical quantities related to wind around the moving body based on the left and right wind pressures detected by the detection unit.
A transmission unit that transmits the physical quantity related to the wind estimated by the wind estimation unit in association with the position information of the moving body, and a transmission unit.
Equipped with
The detection unit is a pair of pressure sensors symmetrically arranged in front of the moving body.
The wind estimation unit is an on-board unit that estimates the wind direction and speed as physical quantities related to the wind based on the difference in wind pressure detected by the pair of pressure sensors and the sum of the wind pressures. The vehicle-mounted device according to claim 1, wherein the wind estimation unit estimates the wind direction as a physical quantity related to the wind by using a pressure coefficient obtained by dividing the difference in wind pressure detected by the pair of pressure sensors by the sum of the wind pressures. The computer mounted on the mobile body
Acquire the position information indicating the current position of the moving body, and obtain the position information.
The wind pressure of each of the pair of locations separated in the left-right direction in front of the moving body is detected.
Based on the detected difference between the left and right wind pressures and the sum of the wind pressures, the wind direction and speed as physical quantities related to the wind around the moving body are estimated.
A wind condition transmission method including transmitting an estimated physical quantity related to the wind in association with the position information of the moving body. A wind condition transmission program for making a computer function as each part of the vehicle-mounted device according to claim 1.

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