JP7077708B2 - 勾配推定装置、及び車両 - Google Patents
勾配推定装置、及び車両 Download PDFInfo
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- JP7077708B2 JP7077708B2 JP2018062848A JP2018062848A JP7077708B2 JP 7077708 B2 JP7077708 B2 JP 7077708B2 JP 2018062848 A JP2018062848 A JP 2018062848A JP 2018062848 A JP2018062848 A JP 2018062848A JP 7077708 B2 JP7077708 B2 JP 7077708B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/48—Inputs being a function of acceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
- F16H59/52—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on the weight of the machine, e.g. change in weight resulting from passengers boarding a bus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/60—Inputs being a function of ambient conditions
- F16H59/66—Road conditions, e.g. slope, slippery
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
- B60W2040/1315—Location of the centre of gravity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
Description
車両が走行する走行路の勾配を推定する勾配推定装置であって、
前記車両の前後方向の加速度を検出する加速度センサの検出値を取得する入力部と、
前記車両の旋回運動に起因して前記加速度センサに作用する向心力を検出する向心力検出部と、
前記加速度センサの検出値に基づいて、前記走行路の勾配を算出する勾配算出部と、
を備え、
前記勾配算出部は、前記車両が旋回運動している際には、前記車両の旋回中心位置、前記車両の重心位置、及び、前記加速度センサの設置位置に基づいて前記加速度センサの検出値に重畳する前記向心力の成分を求め、前記加速度センサの検出値から前記向心力の成分を減算した上で、前記走行路の勾配を算出する
勾配推定装置である。
上記勾配推定装置を備える車両である。
以下、図2~図5を参照して、本実施形態に係る勾配推定装置120の構成の一例について説明する。
入力部120aは、加速度センサ40a、ヨーレートセンサ40b、及び車速センサ40c等の各種センサの検出値を取得する。
勾配算出部120bは、入力部120aが取得する加速度センサ40aの検出値から、走行路の勾配に起因した重力成分を抽出することによって、走行路の勾配を算出する。
向心力検出部120cは、入力部120aが取得した各種センサ(例えば、ヨーレートセンサ40b及び車速センサ40c)の検出値等に基づいて、車両Uの旋回運動に起因した加速度センサ40aに作用する向心力α’を検出する。尚、加速度センサ40aに作用する向心力α’は、重心位置P2における向心力αと同一の大きさである。
重心位置検出部120dは、車両Uの荷物の積載量に応じた重心位置P2を検出する。
次に、図6を参照して、勾配推定装置120の動作の一例について説明する。
以上のように、本実施形態に係る勾配推定装置120は、車両Uの前後方向の加速度を検出する加速度センサ40aの検出値を取得する入力部120aと、車両Uの旋回運動に起因して加速度センサ40aに作用する向心力を検出する向心力検出部120cと、加速度センサ40aの検出値に基づいて、車両Uが走行する走行路の勾配を算出する勾配算出部120bと、を備え、勾配算出部120bは、車両Uが旋回運動している際には、車両Uの旋回中心位置P1、車両Uの重心位置P2、及び、加速度センサ40aの設置位置P3の3点の位置関係から加速度センサ40aの検出値に重畳する向心力成分を求め、加速度センサ40aの検出値から減算した上で、走行路の勾配を算出する。
本発明は、上記実施形態に限らず、種々に変形態様が考えられる。
10 車両駆動装置
20 防振支持装置
30 操作情報取得装置
40 車両情報取得装置
40a 加速度センサ
40b ヨーレートセンサ
40c 車速センサ
100 制御装置
110 車両制御ECU
120 勾配推定装置
120a 入力部
120b 勾配算出部
120c 向心力検出部
120d 重心位置検出部
Claims (3)
- 車両が走行する走行路の勾配を推定する勾配推定装置であって、
前記車両の前後方向の加速度を検出する加速度センサの検出値(a)を取得する入力部と、
前記車両の回転角速度と前記車両の車速とに基づいて、前記車両の旋回運動に起因して前記加速度センサに作用する向心力(α’)を検出する向心力検出部と、
下記の式(1)を用いて、前記加速度センサの検出値(a)に基づいて、前記走行路の勾配(β)を算出する勾配算出部と、
を備え、
前記勾配算出部は、前記車両が旋回運動している際には、
前記式(1)に代えて、下記の式(2)、式(3)及び式(4)を用いて、前記車両の旋回中心位置、前記車両の重心位置、及び、前記加速度センサの設置位置の3点の位置関係(θ)及び前記加速度センサの検出値(a)に重畳する前記向心力の成分(α’sinθ)を求め、前記加速度センサの検出値(a)から前記向心力の成分(α’sinθ)を減算した上で、前記走行路の勾配(β)を算出する
勾配推定装置。
- 請求項1又は2に記載の勾配推定装置を備える車両。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2018062848A JP7077708B2 (ja) | 2018-03-28 | 2018-03-28 | 勾配推定装置、及び車両 |
US17/042,419 US11541894B2 (en) | 2018-03-28 | 2019-03-27 | Road slope estimator and vehicle |
CN201980022782.XA CN111918806B (zh) | 2018-03-28 | 2019-03-27 | 坡度估算装置及车辆 |
PCT/JP2019/013112 WO2019189322A1 (ja) | 2018-03-28 | 2019-03-27 | 勾配推定装置、及び車両 |
DE112019001595.8T DE112019001595B4 (de) | 2018-03-28 | 2019-03-27 | Steigungsschätzvorrichtung und fahrzeug |
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JP2018062848A JP7077708B2 (ja) | 2018-03-28 | 2018-03-28 | 勾配推定装置、及び車両 |
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JP2019172092A JP2019172092A (ja) | 2019-10-10 |
JP7077708B2 true JP7077708B2 (ja) | 2022-05-31 |
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US (1) | US11541894B2 (ja) |
JP (1) | JP7077708B2 (ja) |
CN (1) | CN111918806B (ja) |
DE (1) | DE112019001595B4 (ja) |
WO (1) | WO2019189322A1 (ja) |
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CN111824165B (zh) * | 2019-10-23 | 2021-11-19 | 长城汽车股份有限公司 | 坡度计算方法及装置 |
Citations (2)
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JP2010125888A (ja) | 2008-11-25 | 2010-06-10 | Mitsubishi Electric Corp | 車両横力外乱推定装置 |
JP2018138432A (ja) | 2017-02-24 | 2018-09-06 | いすゞ自動車株式会社 | 勾配推定装置、及び車輌 |
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SE502855C2 (sv) * | 1990-12-12 | 1996-01-29 | Rst Sweden Ab | Förfarande och anordning för mätning av markytors kurvatur och lutning |
DE4216301C2 (de) * | 1992-05-16 | 1997-05-22 | Daimler Benz Ag | Verfahren zur Bestimmung das Fahrverhalten charakterisierender Größen |
JP3576789B2 (ja) * | 1998-02-09 | 2004-10-13 | 株式会社日本自動車部品総合研究所 | 道路形状計測装置 |
JP2001356014A (ja) * | 2000-06-13 | 2001-12-26 | Mitsubishi Motors Corp | 路面勾配検出装置 |
JP3662187B2 (ja) * | 2000-11-27 | 2005-06-22 | トヨタ自動車株式会社 | 路面勾配推定装置 |
JP2005274186A (ja) * | 2004-03-23 | 2005-10-06 | Xanavi Informatics Corp | ナビゲーション装置の加速度算出方法 |
FR2884311A1 (fr) * | 2005-04-12 | 2006-10-13 | Renault Sas | Procede d'estimation de la pente et du devers d'une route a partir d'un vehicule automobile, et dispositif de mise en oeuvre |
JP4400555B2 (ja) * | 2005-11-30 | 2010-01-20 | トヨタ自動車株式会社 | 車両用走行制御装置 |
US9395233B2 (en) * | 2010-01-08 | 2016-07-19 | Fca Us Llc | Mass, drag coefficient and inclination determination using accelerometer sensor |
KR101240578B1 (ko) * | 2010-03-31 | 2013-03-08 | (주)블루포인트 | 차량의 경사각 측정방법 및 그 측정장치 |
DE102010041967A1 (de) | 2010-10-05 | 2012-04-05 | Zf Friedrichshafen Ag | Verfahren zum Ermitteln einer Neigung eines Fahrzeuges in Fahrtrichtung |
US10042815B2 (en) * | 2012-08-31 | 2018-08-07 | Ford Global Technologies, Llc | Road gradient estimation arbitration |
DE102013213291A1 (de) | 2013-07-08 | 2015-01-08 | Zf Friedrichshafen Ag | Verfahren zur Verbesserung der Steigungsberechnung von Kraftfahrzeugen bei Kurvenfahrt |
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JP6641715B2 (ja) * | 2015-03-31 | 2020-02-05 | いすゞ自動車株式会社 | 道路勾配推定装置及び道路勾配推定方法 |
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JP6707514B2 (ja) | 2017-12-25 | 2020-06-10 | 株式会社クボタ | 作業機の油圧システム |
JP7391616B2 (ja) * | 2019-11-05 | 2023-12-05 | 本田技研工業株式会社 | 移動体の姿勢推定装置 |
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- 2018-03-28 JP JP2018062848A patent/JP7077708B2/ja active Active
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2019
- 2019-03-27 CN CN201980022782.XA patent/CN111918806B/zh active Active
- 2019-03-27 US US17/042,419 patent/US11541894B2/en active Active
- 2019-03-27 DE DE112019001595.8T patent/DE112019001595B4/de active Active
- 2019-03-27 WO PCT/JP2019/013112 patent/WO2019189322A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010125888A (ja) | 2008-11-25 | 2010-06-10 | Mitsubishi Electric Corp | 車両横力外乱推定装置 |
JP2018138432A (ja) | 2017-02-24 | 2018-09-06 | いすゞ自動車株式会社 | 勾配推定装置、及び車輌 |
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WO2019189322A1 (ja) | 2019-10-03 |
DE112019001595B4 (de) | 2023-01-19 |
JP2019172092A (ja) | 2019-10-10 |
CN111918806A (zh) | 2020-11-10 |
DE112019001595T5 (de) | 2020-12-10 |
US20210009139A1 (en) | 2021-01-14 |
CN111918806B (zh) | 2024-01-12 |
US11541894B2 (en) | 2023-01-03 |
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