JP7105780B2 - 鉛直方向加速度センサ及び長手方向加速度センサを使用して車両速度を特定する方法及びシステム - Google Patents
鉛直方向加速度センサ及び長手方向加速度センサを使用して車両速度を特定する方法及びシステム Download PDFInfo
- Publication number
- JP7105780B2 JP7105780B2 JP2019534361A JP2019534361A JP7105780B2 JP 7105780 B2 JP7105780 B2 JP 7105780B2 JP 2019534361 A JP2019534361 A JP 2019534361A JP 2019534361 A JP2019534361 A JP 2019534361A JP 7105780 B2 JP7105780 B2 JP 7105780B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- vehicle speed
- determining
- speed
- motion controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 55
- 230000001133 acceleration Effects 0.000 claims description 54
- 238000004891 communication Methods 0.000 claims description 12
- 230000008901 benefit Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60W2520/28—Wheel 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/304—Acceleration sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- General Physics & Mathematics (AREA)
Description
本明細書で説明する方法及びシステムによれば、加速度入力に基づく車両速度計算が提供され、電子スタビリティコントローラ(横滑り防止装置)又はブレーキコントローラモジュールに破局的故障が発生したときに、車両を安全な場所まで制御するためにこれを用いることができる。
最新の車両動的制御システム、例えば、アンチロックブレーキングシステム(ABS)、電子スタビリティコントローラ(ESC、横滑り防止装置)、先進運転支援モジュール(ADAS)によって、車両の安全性が改善されてきた。これらの動的制御システムの性能は、車両速度といった様々な車両パラメータの精度にある程度までは依拠しており、車両速度は多くの場合には、1つ又は複数の車両センサからの入力に基づき推定又は特定される。
Ax=Ax(慣性)+/-g*(Sin(θ)) (1)
Az=g*Cos(θ) (2)
θ=道路傾斜角
Ax(慣性)=Ax(センサから)+/-g*Sin(InvCos(Az/g))
(3)
V(t)=V(0)+積分(Ax(t)dt)
Claims (6)
- 車両の車両速度を特定するシステムであって、当該システムは、
通信バスと、
前記通信バスに接続され、第1の車両速度を特定するための車輪速度センサを含む、電子スタビリティコントローラと、
前記通信バスに接続され、前記車両の鉛直方向加速度を検出するための鉛直方向加速度センサと前記車両の長手方向加速度を検出するための長手方向加速度センサとを含む、乗員拘束コントローラと、
前記通信バスに接続された動作コントローラと、
を備えており、
前記動作コントローラは、
前記車両の前記鉛直方向加速度と前記長手方向加速度とを用いて第2の車両速度を特定し、
前記第1の車両速度と前記第2の車両速度との差が閾値よりも小さければ、前記第2の車両速度を有効にし、
前記第1の車両速度と前記第2の車両速度との差が閾値よりも小さくなければ、前記第1の車両速度を用いる、
車両の車両速度を特定するシステム。 - 前記動作コントローラは、前記電子スタビリティコントローラが前記通信バスから切り離されたときに、前記車両を減速させるために前記第2の車両速度を用いる、
請求項1に記載のシステム。 - 前記動作コントローラはさらに、前記車両を減速させるために、運転支援モジュールから制御信号を受け取るように構成されている、
請求項2に記載のシステム。 - 前記制御信号は、前記第2の車両速度に基づき生成される、
請求項3に記載のシステム。 - 前記動作コントローラはさらに、前記車両が移動中の路面の勾配を特定するように構成されている、
請求項4に記載のシステム。 - 車両の車両速度を特定する方法であって、
車輪速度センサにより第1の車両速度を特定することと、
鉛直方向加速度センサにより前記車両の鉛直方向加速度を検出することと、
長手方向加速度センサにより前記車両の長手方向加速度を検出することと、
動作コントローラにより前記車両の前記鉛直方向加速度と前記長手方向加速度とを用いて第2の車両速度を特定することと、
前記第1の車両速度と前記第2の車両速度との差が閾値よりも小さければ、前記動作コントローラにより前記第2の車両速度を用いることと、
前記第1の車両速度と前記第2の車両速度との差が前記閾値よりも小さくなければ、前記動作コントローラにより前記第1の車両速度を用いることと、
を含む、
車両の車両速度を特定する方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/389,641 US10518757B2 (en) | 2016-12-23 | 2016-12-23 | Method and system for determining vehicle speed using vertical and longitudinal acceleration sensors |
US15/389,641 | 2016-12-23 | ||
PCT/EP2017/081805 WO2018114352A1 (en) | 2016-12-23 | 2017-12-07 | Method and system for determining vehicle speed using vertical and longitudinal acceleration sensors |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020501982A JP2020501982A (ja) | 2020-01-23 |
JP7105780B2 true JP7105780B2 (ja) | 2022-07-25 |
Family
ID=60702686
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019534361A Active JP7105780B2 (ja) | 2016-12-23 | 2017-12-07 | 鉛直方向加速度センサ及び長手方向加速度センサを使用して車両速度を特定する方法及びシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US10518757B2 (ja) |
EP (1) | EP3558769B1 (ja) |
JP (1) | JP7105780B2 (ja) |
KR (1) | KR102461424B1 (ja) |
WO (1) | WO2018114352A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018213931A1 (de) * | 2018-08-17 | 2020-02-20 | Robert Bosch Gmbh | Fahrassistenzverfahren für ein Fahrzeug, Steuereinheit, Fahrassistenzsystem und Fahrzeug |
CN109278755B (zh) * | 2018-10-09 | 2021-04-06 | 浙江力邦合信智能制动系统股份有限公司 | 车辆路面坡度计算方法及系统 |
CN109466559B (zh) * | 2018-12-17 | 2020-09-08 | 重庆长安汽车股份有限公司 | 基于滞后滤波路面坡度的计算方法和装置 |
CN109849930B (zh) * | 2018-12-29 | 2020-08-04 | 百度在线网络技术(北京)有限公司 | 自动驾驶汽车的相邻车辆的速度计算方法和装置 |
CN111469856B (zh) * | 2020-04-17 | 2021-11-02 | 湖南三一电控科技有限公司 | 叉车和叉车的速度控制方法 |
CN111775937B (zh) * | 2020-06-03 | 2022-05-20 | 深圳拓邦股份有限公司 | 割草车陡坡缓降的方法、控制装置及计算机可读存储介质 |
WO2023169701A1 (en) | 2022-03-10 | 2023-09-14 | Volvo Truck Corporation | Robust vehicle speed over ground estimation using wheel speed sensors and inertial measurement units |
WO2023169681A1 (en) | 2022-03-10 | 2023-09-14 | Volvo Truck Corporation | Sensor system for determining vehicle speed over ground |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002160616A (ja) | 2000-11-28 | 2002-06-04 | Denso Corp | ブレーキ装置 |
JP3662596B2 (ja) | 1991-01-14 | 2005-06-22 | 住友電気工業株式会社 | 推定車体速度等の算出装置 |
JP2009198185A (ja) | 2008-02-19 | 2009-09-03 | Toyota Motor Corp | 車両位置姿勢推測装置 |
JP2009292332A (ja) | 2008-06-05 | 2009-12-17 | Nissan Motor Co Ltd | 車両用運転支援装置及び車両用運転支援方法 |
JP2012128553A (ja) | 2010-12-14 | 2012-07-05 | Denso Corp | 運転支援システム |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0711531B2 (ja) * | 1987-04-27 | 1995-02-08 | 日本電装株式会社 | 車両用速度検出装置 |
JP3605421B2 (ja) | 1994-01-26 | 2004-12-22 | 本田技研工業株式会社 | 推定車体速度算出方法 |
JP3422566B2 (ja) | 1994-07-28 | 2003-06-30 | 富士重工業株式会社 | 4輪駆動車の車体速度算出方法 |
US20080065305A1 (en) * | 2005-03-11 | 2008-03-13 | Yutaka Hattori | Traction Control System and Sensor Unit Thereof |
FR2896467B1 (fr) | 2006-01-20 | 2008-03-07 | Renault Sas | Procede d'estimation de la vitesse longitudinale d'un vehicule automobile |
US8712639B2 (en) * | 2006-08-30 | 2014-04-29 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine longitudinal velocity |
US7617036B2 (en) | 2006-09-20 | 2009-11-10 | Gm Global Technology Operations, Inc. | Method and system for determining the velocity of an automobile |
JP4926850B2 (ja) | 2007-06-25 | 2012-05-09 | 富士重工業株式会社 | 車両の路面状態推定装置 |
FR2923596B1 (fr) | 2007-11-09 | 2010-01-15 | Michelin Soc Tech | Systeme de controle du comportement au sol d'un vehicule comportant une determination de la pente du sol de roulement 1 |
FR2923437B1 (fr) | 2007-11-09 | 2010-04-09 | Michelin Soc Tech | Systeme de controle du comportement d'un vehicule comportant une determination du coefficient d'adherence de roue |
DE102013205245A1 (de) | 2013-03-25 | 2014-09-25 | Continental Teves Ag & Co. Ohg | Fahrzeugreferenzgeschwindigkeitsbestimmungsverfahren und Fahrzeugsteuergerät mit einem solchen Verfahren |
WO2014195873A1 (en) * | 2013-06-03 | 2014-12-11 | E-Aam Driveline Systems Ab | System and method for determining a vehicle velocity parameter |
GB2536008B (en) * | 2015-03-03 | 2019-06-12 | Jaguar Land Rover Ltd | Vehicle state estimation apparatus and method |
-
2016
- 2016-12-23 US US15/389,641 patent/US10518757B2/en active Active
-
2017
- 2017-12-07 WO PCT/EP2017/081805 patent/WO2018114352A1/en unknown
- 2017-12-07 KR KR1020197018072A patent/KR102461424B1/ko active IP Right Grant
- 2017-12-07 JP JP2019534361A patent/JP7105780B2/ja active Active
- 2017-12-07 EP EP17816632.8A patent/EP3558769B1/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3662596B2 (ja) | 1991-01-14 | 2005-06-22 | 住友電気工業株式会社 | 推定車体速度等の算出装置 |
JP2002160616A (ja) | 2000-11-28 | 2002-06-04 | Denso Corp | ブレーキ装置 |
JP2009198185A (ja) | 2008-02-19 | 2009-09-03 | Toyota Motor Corp | 車両位置姿勢推測装置 |
JP2009292332A (ja) | 2008-06-05 | 2009-12-17 | Nissan Motor Co Ltd | 車両用運転支援装置及び車両用運転支援方法 |
JP2012128553A (ja) | 2010-12-14 | 2012-07-05 | Denso Corp | 運転支援システム |
Also Published As
Publication number | Publication date |
---|---|
WO2018114352A1 (en) | 2018-06-28 |
EP3558769A1 (en) | 2019-10-30 |
KR102461424B1 (ko) | 2022-11-03 |
JP2020501982A (ja) | 2020-01-23 |
US10518757B2 (en) | 2019-12-31 |
KR20190101377A (ko) | 2019-08-30 |
EP3558769B1 (en) | 2020-10-28 |
US20180178767A1 (en) | 2018-06-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7105780B2 (ja) | 鉛直方向加速度センサ及び長手方向加速度センサを使用して車両速度を特定する方法及びシステム | |
EP3369634B1 (en) | Vehicular motion control device and method | |
US10106160B2 (en) | Driving aid arrangement, a vehicle and a method of controlling a longitudinal velocity of a vehicle | |
US20160229394A1 (en) | Vehicle control apparatus | |
US20170166210A1 (en) | Hill start assist control method and system for vehicles | |
CN107310551B (zh) | 使用行驶信息以供优化的车辆侧翻感测系统 | |
EP2960137B1 (en) | Detection of change in surface friction using electric power steering signals | |
CN113661110A (zh) | 驾驶接管装置 | |
JP2019535594A5 (ja) | ||
CN105510223A (zh) | 用于使用自校准扭矩估计路面摩擦系数的方法和系统 | |
CN114291050B (zh) | 一种车辆控制方法、装置、可读存储介质和车辆 | |
US20170072996A1 (en) | Apparatus and method for controlling electric power steering system | |
JP2007271606A (ja) | 加速度推定装置および車両 | |
SE534602C2 (sv) | Förfarande och anordning för att styra ett aktivt och/eller passivt säkerhetssystem i ett motorfordon | |
CN113442914B (zh) | 碰撞距离估算设备和使用该设备的高级驾驶员辅助系统 | |
JP7132703B2 (ja) | 車両運動状態推定装置、車両運動状態推定システム、車両運動制御装置および車両運動状態推定方法 | |
EP2915709B1 (en) | Reference vehicle body speed switching detection method in one-channel abs system for motorcycle | |
CN114750772A (zh) | 异常确定装置和方法、车辆状态估计装置及可读存储介质 | |
JP2017515715A (ja) | 車両制御システム | |
JP2018095112A (ja) | 減速制御装置、減速制御方法 | |
CN114200923A (zh) | 车辆及控制车辆的方法 | |
KR20170064926A (ko) | 차량 질량 추정 방법 및 장치 | |
EP3321141B1 (en) | Control device for straddled vehicle, and straddled vehicle | |
EP3988376A1 (en) | Train security system, train security control method, and on-train device | |
Korte et al. | Design of a robust plausibility check for an adaptive vehicle observer in an electric vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190621 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200716 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201014 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210412 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20211214 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220308 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220613 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220712 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7105780 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |