WO2005007973A1 - Systeme de collecte d'information d'etat de route - Google Patents

Systeme de collecte d'information d'etat de route Download PDF

Info

Publication number
WO2005007973A1
WO2005007973A1 PCT/SE2004/000977 SE2004000977W WO2005007973A1 WO 2005007973 A1 WO2005007973 A1 WO 2005007973A1 SE 2004000977 W SE2004000977 W SE 2004000977W WO 2005007973 A1 WO2005007973 A1 WO 2005007973A1
Authority
WO
WIPO (PCT)
Prior art keywords
road
friction
dependent
devised
status information
Prior art date
Application number
PCT/SE2004/000977
Other languages
English (en)
Swedish (sv)
Inventor
Fredrik Gustafsson
Original Assignee
Nira Dynamics Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nira Dynamics Ab filed Critical Nira Dynamics Ab
Priority to EP04749016A priority Critical patent/EP1644585A1/fr
Publication of WO2005007973A1 publication Critical patent/WO2005007973A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G01N19/02—Measuring coefficient of friction between materials
    • 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
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction

Definitions

  • the present invention relates in general to measuring friction on roads for wheeled vehicles. More specifically the present invention relates to a system for collecting road status information based on collected measurements of road friction.
  • the road network is an important part of the infrastructure in today society with regard to the transportation of people and goods, and the maintenance of the roadways is an important factor for the practicability and traffic safety. This is perhaps most accentuated in countries with a winter climate where snowfall and ice formation rapidly can cause varying conditions on the roadway and on the whole a fairly large organisation is involved in road maintenance. In other types of climate or due to occasional phenomena related to weather or to other causes similar varying road conditions can occur, for example due to condensed moisture, sand coating or oil slippage. In Sweden the road maintenance is for the most part controlled on the basis of information from stationary weather stations that are located along the roads.
  • a maintenance manager decides whether the roadway shall be plowed, scraped, salted or sanded, or whetlier some other measure should be taken.
  • plowing, salting, sanding and the like is mainly carried out in predetermined routes along certain road sections, typically between two places or road junctions, where in principle the same measure is carried out along the whole section without any particular adaptation to the actual conditions.
  • a friction coefficient is computed based on the gradient of the latter relation.
  • US 2001/0044688 discloses an apparatus and a method for detecting deviations of a vehicle sensor.
  • the apparatus is provided with a device for detecting the degree of adhesion of a wheel in relation to a road surface.
  • none of this prior art discloses any support for road maintenance.
  • Problem to be Solved by the Invention is to achieve a system for collecting road status information, preferably for supporting the control of road maintenance. There are inter alia the following aspects of the overall problem, namely to: - Improve planning and selection of appropriate measure on a specific road surface;
  • the indicated problem is solved by providing a system for collecting road status information as a support for the control of road maintenance based on collected measurements of the road friction.
  • the system according to the invention is devised to dynamically compile road status information based on measured values of parameters that affect the road status and that are collected by vehicles that traffic the roads of current interest.
  • collecting of measured values and possible processing of measured data is carried out from ordinary vehicles, from road maintenance vehicles such as snow plow trucks or salt trucks, or from specialised measuring vehicles.
  • collected measured data, or processed or computed road status information is communicated to a central system.
  • a variety of the invention is realised by installing road friction measurement systems in common vehicles, which measurement systems repeatedly report current road status information to the central system.
  • Further processing and coordination of road status information can be carried out in the central system and be used by a road maintenance organisation as an alternative or a complement to stationary weather stations.
  • An advantage is that up to date information is collected from a larger number of vehicles that traffic the roads, and thus cover more roads and areas than the stationary weather stations. More data comes from road sections that have an intensive traffic, and there are many redundant sensors.
  • the information is further improved when it is coupled to a position determining system such as a navigation system or a route planning system. This enables that road maintenance measures can be planned in an optimized manner inter alia with regard to working hours, machine resources, fuel consumption, exhausts and road treatment material, and thereby allow for improved traffic safety, economy and environment.
  • road friction measurement systems are installed in road maintenance vehicles such that they automatically or as support systems for manual control adapts measures locally and directly dependent on the actually occurring conditions, preferably taking account of weather information from the stationary weather stations and/or in combination with the aforementioned variety.
  • Certain aspects of the invention are directed to procedures for monitoring changes in friction conditions and for, in interaction with a driver of a vehicle equipped with the invention, carrying out estimations of friction conditions, for example on specific road sections. The invention enables the control of road maintenance with a more dynamic road keeping strategy that meets the different problem aspects stated above.
  • Fig 1 shows a schematic overview of an exemplifying embodiment of the invention with a vehicle devised with means for collecting and transmitting road status information
  • Fig 2 shows schematically a separate measuring wheel device for mounting on a vehicle.
  • Fig 1 shows a schematic overview of an embodiment of the invention with a vehicle 100 with wheels 101, whereof at least some wheel is provided with wheel velocity sensors 102 in a per se known manner.
  • the wheel velocity sensors 102 can advantageously be already existing sensors belonging to the vehicle standard system for e.g. speed measurement or an automatic braking system.
  • the wheel velocity sensors 102 which preferably deliver measurement signals in a sampled format alternatively let the signals pass a not shown analogue/digital converter, are coupled to a collecting unit 104 devised for collecting and storing of measured values.
  • the collecting unit 104 is in its turn communicatively coupled to a computation unit 106, that comprises a data processor (CPU), data storage, I/O units and computer program code with program code portions devised to control the data processor.
  • the computation unit 106 is devised to compute road status information that is derivable from or dependent on the wheel velocity. In particular, it is herewith appropriate to implement computations for determining available or actual friction between road surface and the tires of the wheels in accordance with some of the methods and apparatus that are described in the publications listed in the Prior Art section above.
  • the computation unit is provided with an output 110 for outputting computed road status information or a control signal.
  • the computation unit 106 is devised to compute or generate a control signal that for example can be coupled to a distribution mechanism for a surface treatment substance such as salt or sand.
  • the distribution of the surface treatment substance is activated dependent on predetermined values for available road friction.
  • the computation unit 106 in fig 1 is further coupled to a display or some other presentation unit 112 for presentation of processed road status information for a driver of e.g. a road maintenance vehicle or some other vehicle.
  • a road maintenance vehicle measures can thereby be adapted automatically or interactively with the driver locally and directly dependent on currently prevailing conditions.
  • the driver can for example manually control the distribution of surface treatment substance dependent on the presented road status information, e.g. in different intervals of available road friction.
  • the road friction should preferably be calibrated with regard to the vehicle or the mechanism that is used in measuring friction, such that computed road status information is adapted to the condition that prevails for vehicles in traffic.
  • the collecting unit 104 is in one embodiment also coupled to a position determination apparatus 108, for example a navigation system, a route planning system, GPS or GSM-based positioning.
  • a position determination apparatus 108 for example a navigation system, a route planning system, GPS or GSM-based positioning.
  • every measured value, series of measured values or computed road status information is stored together with a position indication.
  • another embodiment receives other input data 113 in the shape of second parameters or information that is relevant for the road status, for example from other sensors such as humidity or temperature, or other information from weather stations.
  • this other input data 113 is preferably stored together with a measured value or computed road status information for example in a time or position dependent manner.
  • the collecting unit 104 and/or the computation unit 106 are coupled to a telecommunications unit 114 devised for transmitting road status information to a similar receiving telecommunications unit 118 via radio frequency transmission. It is expedient to use a radio frequency transmission according to some current standard for telecommunication, for example GSM, GPRS or similar.
  • the receiving telecommunications unit 118 could be placed in a second vehicle with equipment corresponding to the above described equipment in a first vehicle.
  • Information exchange can for example occur when meeting the other vehicle, through broadcasting, at calls or according to some other scheme.
  • the transmitted information has a varying degree of refinement in different embodiments of the invention, and can for example be in the shape of raw measured data directly from the collecting unit 104 or more processed road status information from the computation unit 106. In the case with transmission of more or less raw measured data from the collecting unit computation is carried out based on this data in a system coupled to the receiving unit.
  • road status information is transmitted to a telecommunications unit 118 of a central system 117 for collecting and processing road status information.
  • the central system 117 further comprises a data processing unit 120 with a data processor (CPU), data storage and I/O units that are coupled to or incorporates a database 122 for storing road status information and a user interface 124 for presentation of road status information and input of control commands.
  • road status information is collected from a plurality of vehicles.
  • this system is used for controlling road maintenance, and a road maintenance manager can with the aid of this dynamically incoming information plan moves and measures. Communication back to the vehicles can also be carried out via the central system, for example in terms of messages to drivers, control signals, road status information and the like.
  • Fig 2 shows an embodiment of a measuring wheel device 201 for collecting measured values according to the invention and devised to be attached to a vehicle.
  • the measuring wheel device comprises a wheel 202 suspended on an arm 206 arranged at an attachment device 208 intended to be mounted on the vehicle.
  • a wheel velocity sensor 204 delivers a measured signal or measured values of a wheel velocity dependent parameter to an output 210 that can be a terminal for outputting a signal or data values.
  • Electronic equipment according to the above description is couplable to the output 210, or is alternatively coupled to and to selectable degrees integrated with the measuring wheel device.
  • the attachment device 208 can comprise a mechanism for lowering or springing the wheel onto the road surface. There is preferably a braking mechanism devised to brake the wheel with a preset or settable braking effect that gives a negative slip, such that a calibrated measurement of the available friction can be achieved.
  • An embodiment of the invention comprises a plurality of modes for collecting measured values and for computing friction. In a preferred variety friction determination is carried out in connection with:
  • ABS Automatic Braking System
  • slip- slope slip gradient
  • a control signal that in different embodiments is used for different functions is generated and delivered.
  • the driver in response to a detected change in the slip-slope is passed a message with a request or a command to make a braking or a slipping manoeuvre in order to enable collection of measured values and determination of friction also in a braking and a slipping mode, respectively.
  • a fast filter is used that in response to measurement during different modes by means of driver manoeuvres gives a plurality of resolution levels in friction determinations.
  • the invention can according to this embodiment be realised according to the following steps: 0. Initiate an estimation k_0 of the slip-slope and store the time t_0.
  • a variety of the invention is designed with a procedure for achieving good slip- slope estimations with the aid of a driver.
  • An embodiment of this procedure comprises the following steps: 1) The driver drives out on a surface to be examined, for example a string of slush, and operates a switch to initiate the inventive device that is provided with a filter for estimating the slip-slope.
  • the driver excites the system for example by means of a start command or by manoeuvring a switch for starting.
  • the device computes for example a least square estimation of the slip-slopes and the driver is informed by a signal (for example a signal lamp or a sound signal) when an accurate estimation has been obtained, alternatively the driver manoeuvres a switch for stopping the estimation when the measuring shall be terminated, for example if the surface is changed or if it for some other reason not ought to continue.
  • a signal for example a signal lamp or a sound signal
  • the steps 1-3 can be combined with the procedure for monitoring a change in the slip-slope above.

Abstract

L'invention concerne un dispositif et un procédé pour la détection et la collecte, sur véhicule à roues, de valeurs de paramètre dépendant du frottement sur la route, et pour la transmission d'un tel paramètre à d'autres véhicules à roues ou à un récepteur central, sous la forme d'information d'état de route ou pour les besoins de traitement ultérieur et de retransmission. La collecte et le calcul des valeurs peuvent s'effectuer sous différents modes de conduite.
PCT/SE2004/000977 2003-07-16 2004-06-17 Systeme de collecte d'information d'etat de route WO2005007973A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP04749016A EP1644585A1 (fr) 2003-07-16 2004-06-17 Systeme de collecte d'information d'etat de route

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0302084-9 2003-07-16
SE0302084A SE525530C2 (sv) 2003-07-16 2003-07-16 Anordning, system och metod för insamling av vägstatusinformation

Publications (1)

Publication Number Publication Date
WO2005007973A1 true WO2005007973A1 (fr) 2005-01-27

Family

ID=27765003

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2004/000977 WO2005007973A1 (fr) 2003-07-16 2004-06-17 Systeme de collecte d'information d'etat de route

Country Status (3)

Country Link
EP (1) EP1644585A1 (fr)
SE (1) SE525530C2 (fr)
WO (1) WO2005007973A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010025705A1 (de) 2010-06-30 2012-01-05 Wabco Gmbh Verfahren und Vorrichtung zur Warnung anderer Verkehrsteilnehmer vor gefährlichen Fahrbahnbeschaffenheiten oder Fahrbahnzuständen
EP2757539A1 (fr) 2013-01-22 2014-07-23 RoadIT AB Procédé et dispositif de collecte et de traitement de données relatives à l'état d'une route
WO2016120092A1 (fr) * 2015-01-29 2016-08-04 Robert Bosch Gmbh Procédé de fonctionnement d'une base de données de coefficients de frottement et base de données de coefficients de frottement
CN107844796A (zh) * 2016-09-20 2018-03-27 福特全球技术公司 冰和雪的检测系统和方法
EP3386828A4 (fr) * 2015-12-10 2019-03-27 Uber Technologies, Inc. Carte de traction de véhicule pour véhicules autonomes
WO2019072879A1 (fr) * 2017-10-13 2019-04-18 Robert Bosch Gmbh Procédé et dispositif pour déterminer une valeur de frottement d'une chaussée
CN110884497A (zh) * 2018-09-06 2020-03-17 罗伯特·博世有限公司 用于提供交通区域部段的摩擦系数信息的方法和系统
CN113272157A (zh) * 2018-11-14 2021-08-17 米其林集团总公司 用于确定地面坚硬度的方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5982325A (en) 1997-11-24 1999-11-09 Racom Corporation Method for tracking real time road conditions
US6484089B1 (en) 1999-10-15 2002-11-19 Magellan Dis, Inc. Navigation system with road condition sampling
DE10126459C1 (de) * 2001-05-31 2003-01-16 Daimler Chrysler Ag System und Verfahren zum Ermitteln von Fahrbahnreibwerten im Bereich eines Fahrzeugs
US6538578B1 (en) * 1996-06-07 2003-03-25 John A. Doherty Vehicle mounted travel surface and weather condition monitoring system
US6577943B2 (en) 2000-04-21 2003-06-10 Sumitomo Rubber Industries, Ltd. System for distributing road surface information, system for collecting and distributing vehicle information, device for transmitting vehicle information and program for controlling vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6538578B1 (en) * 1996-06-07 2003-03-25 John A. Doherty Vehicle mounted travel surface and weather condition monitoring system
US5982325A (en) 1997-11-24 1999-11-09 Racom Corporation Method for tracking real time road conditions
US6484089B1 (en) 1999-10-15 2002-11-19 Magellan Dis, Inc. Navigation system with road condition sampling
US6577943B2 (en) 2000-04-21 2003-06-10 Sumitomo Rubber Industries, Ltd. System for distributing road surface information, system for collecting and distributing vehicle information, device for transmitting vehicle information and program for controlling vehicle
DE10126459C1 (de) * 2001-05-31 2003-01-16 Daimler Chrysler Ag System und Verfahren zum Ermitteln von Fahrbahnreibwerten im Bereich eines Fahrzeugs

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1644585A1 *

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010025705A1 (de) 2010-06-30 2012-01-05 Wabco Gmbh Verfahren und Vorrichtung zur Warnung anderer Verkehrsteilnehmer vor gefährlichen Fahrbahnbeschaffenheiten oder Fahrbahnzuständen
EP2757539A1 (fr) 2013-01-22 2014-07-23 RoadIT AB Procédé et dispositif de collecte et de traitement de données relatives à l'état d'une route
WO2014114684A1 (fr) 2013-01-22 2014-07-31 Roadit Ab Procédé et agencement permettant de recueillir et de traiter des données qui se rapportent à l'état des routes
US9984564B2 (en) 2013-01-22 2018-05-29 Klimator Ab Method and an arrangement for collecting and processing data related to road status
WO2016120092A1 (fr) * 2015-01-29 2016-08-04 Robert Bosch Gmbh Procédé de fonctionnement d'une base de données de coefficients de frottement et base de données de coefficients de frottement
EP3386828A4 (fr) * 2015-12-10 2019-03-27 Uber Technologies, Inc. Carte de traction de véhicule pour véhicules autonomes
CN107844796A (zh) * 2016-09-20 2018-03-27 福特全球技术公司 冰和雪的检测系统和方法
WO2019072879A1 (fr) * 2017-10-13 2019-04-18 Robert Bosch Gmbh Procédé et dispositif pour déterminer une valeur de frottement d'une chaussée
CN110884497A (zh) * 2018-09-06 2020-03-17 罗伯特·博世有限公司 用于提供交通区域部段的摩擦系数信息的方法和系统
CN113272157A (zh) * 2018-11-14 2021-08-17 米其林集团总公司 用于确定地面坚硬度的方法

Also Published As

Publication number Publication date
SE525530C2 (sv) 2005-03-08
SE0302084D0 (sv) 2003-07-16
EP1644585A1 (fr) 2006-04-12
SE0302084L (sv) 2005-01-17

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