JP7349978B2 - 異常判定装置、異常判定方法、異常判定プログラム、及び、車両状態推定装置 - Google Patents
異常判定装置、異常判定方法、異常判定プログラム、及び、車両状態推定装置 Download PDFInfo
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- 230000001052 transient effect Effects 0.000 description 23
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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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
- B60W40/107—Longitudinal acceleration
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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
- B60W40/109—Lateral acceleration
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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
- B60W40/112—Roll 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/245—Arrangements for determining position or orientation using dead reckoning
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/90—Single sensor for two or more measurements
- B60W2420/905—Single sensor for two or more measurements the sensor being an xyz axis sensor
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- 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
- B60W2520/26—Wheel slip
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- Mathematical Physics (AREA)
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Gyroscopes (AREA)
Description
7 :副慣性計測センサ(3軸慣性計測センサ)
9 :車輪速センサ
31 :車両状態推定器(車両状態推定部)
33 :異常判定器(異常判定部)
46 :車両状態推定装置
68 :異常判定装置
S :車両
Claims (6)
- 車両に搭載され、前記車両の前後方向の加速度、左右方向の加速度、及び、上下方向の加速度と、ロールレート、ピッチレート、及びヨーレートとを検出する6軸慣性計測センサの異常の有無を判定する異常判定装置であって、
前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートを検出する3軸慣性計測センサと、
前記6軸慣性計測センサの異常の有無を判定する異常判定部とを備え、
前記異常判定部は、前記6軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートをそれぞれ、前記3軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートと比較することにより、前記6軸慣性計測センサの異常の有無を判定する異常判定装置。 - 車両に搭載され、前記車両の前後方向の加速度、左右方向の加速度、及び、上下方向の加速度と、ロールレート、ピッチレート、及びヨーレートとを検出する6軸慣性計測センサの異常の有無を判定する異常判定方法であって、
前記車両に搭載され、前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートを検出する3軸慣性計測センサから、前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートを取得し、
前記6軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートをそれぞれ、前記3軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートと比較することにより、前記6軸慣性計測センサの異常の有無を判定する異常判定方法。 - 車両に搭載され、前記車両の前後方向の加速度、左右方向の加速度、及び、上下方向の加速度と、ロールレート、ピッチレート、及びヨーレートとを検出する6軸慣性計測センサの異常の有無を判定する異常判定プログラムであって、
前記車両に搭載され、前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートを検出する3軸慣性計測センサから、前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートを取得し、
前記6軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートをそれぞれ、前記3軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートと比較することにより、前記6軸慣性計測センサの異常の有無を判定する異常判定プログラム。 - 車両に搭載され、前記車両の前後方向の加速度、左右方向の加速度、及び、上下方向の加速度と、ロールレート、ピッチレート、及びヨーレートとを検出する6軸慣性計測センサの計測値に基づいて車両状態を推定する車両状態推定装置であって、
前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートを検出する3軸慣性計測センサと、
前記6軸慣性計測センサの異常の有無を判定する異常判定部とを備え、
前記異常判定部は、前記6軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートをそれぞれ、前記3軸慣性計測センサによって取得された前記前後方向の加速度、前記左右方向の加速度、及び、前記ヨーレートと比較することにより、前記6軸慣性計測センサの異常の有無を判定する車両状態推定装置。 - 前記車両に設けられる車輪の車輪速を測定する車輪速センサと、前記車輪速センサ、及び、前記6軸慣性計測センサによって計測される前記計測値に基づいて前記車両の姿勢角を算出する車両状態推定部とを有し、
前記異常判定部は、前記車両状態推定部によって算出される前記姿勢角と、前記車輪が滑走することなく走行したときに、前記車輪速を用いて算出される重力の方向に基づく定常姿勢角との差が所定の閾値以上となったときに、前記6軸慣性計測センサ、又は、前記車輪速センサに異常があると判定する請求項4に記載の車両状態推定装置。 - 前記車両状態推定部によって算出されるロール角及び前記定常姿勢角のロール角の差が所定の閾値以上であるか、又は、前記車両状態推定部によって算出されるピッチ角及び前記定常姿勢角のピッチ角の差が所定の閾値以上であるときに、前記6軸慣性計測センサ、又は、前記車輪速センサに異常があると判定する請求項5に記載の車両状態推定装置。
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JP2020219378A JP7349978B2 (ja) | 2020-12-28 | 2020-12-28 | 異常判定装置、異常判定方法、異常判定プログラム、及び、車両状態推定装置 |
CN202111600692.XA CN114750772A (zh) | 2020-12-28 | 2021-12-24 | 异常确定装置和方法、车辆状态估计装置及可读存储介质 |
US17/562,074 US11970176B2 (en) | 2020-12-28 | 2021-12-27 | Abnormality determination device, abnormality determination method, vehicle state estimation device, and non-transitory computer-readable storage medium |
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Citations (4)
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---|---|---|---|---|
US5841537A (en) | 1997-08-11 | 1998-11-24 | Rockwell International | Synthesized attitude and heading inertial reference |
JP2006105598A (ja) | 2004-09-30 | 2006-04-20 | Honda Motor Co Ltd | 加速度・角速度センサユニット |
JP2009204419A (ja) | 2008-02-27 | 2009-09-10 | Mitsubishi Electric Corp | 故障検知装置 |
JP2019501055A (ja) | 2015-12-11 | 2019-01-17 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 車両の挙動検出装置 |
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US9623851B1 (en) * | 2016-04-22 | 2017-04-18 | Honda Motor Co., Ltd. | Vehicle braking apparatus, and methods of use and manufacture thereof |
US10989538B2 (en) * | 2017-12-15 | 2021-04-27 | Uatc, Llc | IMU data offset compensation for an autonomous vehicle |
GB2573016A (en) * | 2018-04-20 | 2019-10-23 | Trw Ltd | A radar apparatus for a vehicle and method of detecting misalignment |
US20210123754A1 (en) * | 2019-10-25 | 2021-04-29 | GM Global Technology Operations LLC | Method for unsupervised automatic alignment of vehicle sensors |
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5841537A (en) | 1997-08-11 | 1998-11-24 | Rockwell International | Synthesized attitude and heading inertial reference |
JP2006105598A (ja) | 2004-09-30 | 2006-04-20 | Honda Motor Co Ltd | 加速度・角速度センサユニット |
JP2009204419A (ja) | 2008-02-27 | 2009-09-10 | Mitsubishi Electric Corp | 故障検知装置 |
JP2019501055A (ja) | 2015-12-11 | 2019-01-17 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 車両の挙動検出装置 |
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JP2022104276A (ja) | 2022-07-08 |
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