WO2005056358A1 - Bestimmung von dynamischen achsfasten und/oder radlasten eines radfahrzeuges - Google Patents
Bestimmung von dynamischen achsfasten und/oder radlasten eines radfahrzeuges Download PDFInfo
- Publication number
- WO2005056358A1 WO2005056358A1 PCT/EP2004/053080 EP2004053080W WO2005056358A1 WO 2005056358 A1 WO2005056358 A1 WO 2005056358A1 EP 2004053080 W EP2004053080 W EP 2004053080W WO 2005056358 A1 WO2005056358 A1 WO 2005056358A1
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- WIPO (PCT)
- Prior art keywords
- vehicle
- wheel
- wheeled vehicle
- loads
- measuring device
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 66
- 238000011156 evaluation Methods 0.000 claims abstract description 17
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000005259 measurement Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 description 16
- 238000012806 monitoring device Methods 0.000 description 5
- 238000013213 extrapolation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/086—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles wherein the vehicle mass is dynamically estimated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0522—Pitch rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/61—Load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/03—Overturn, rollover
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
Definitions
- the invention relates to an arrangement and a method for determining dynamic axle loads and / or wheel loads of a wheeled vehicle.
- Axle loads and wheel loads are input variables for electronic control systems of motor vehicles, eg. B. for an anti-lock braking system (ABS) and for a system for actively controlling the chassis or coupling the chassis to a vehicle body (for example, the so-called electronic stability program ESP).
- ESP electronic stability program
- Further examples are a protection system against rollover protection and systems for stabilizing roll movements in passenger and commercial vehicles and in trailers.
- the invention particularly relates to a combination of the arrangement with at least one such system or with any combination of such systems.
- the determination of dynamic axle loads and / or wheel loads of a wheeled vehicle it is proposed to measure at least two (preferably three) linear accelerations of the wheeled vehicle, each directed transversely to one another, and three rotation rates of the wheeled vehicle.
- the three rotation rates are each a measure of a rotational movement or rotational movement component about a coordinate axis of the wheeled vehicle, the two or three coordinate axes each running transversely to one another and in particular forming a Cartesian coordinate system.
- the term “axis” is not only understood to mean a rigid axis and / or an axis that is designed as a single object.
- the wheels of an axle can be connected to one another, for example, only via a vehicle body and via shock-absorbing devices and / or suspension devices arranged between the vehicle body and the respective wheel. Furthermore, it is also possible for at least one of the axles to have only one wheel.
- An axle load is understood to mean a load that acts on the wheels of an axle as a whole (e.g. from a vehicle body on the front wheels of a four-wheel vehicle) or (e.g. at the wheel contact points) from the wheels of the axle onto the Is exercised underground.
- a wheel load is understood to mean a load that is applied to a single wheel of the vehicle (e.g. from a vehicle body to the right front wheel of a four-wheeled vehicle) or to a plurality of wheels of the vehicle (e.g. to the two right wheels of one) four-wheeled vehicle) acts or is exerted by the wheel or wheels on the ground.
- the measuring device preferably has acceleration sensors for measuring the two (or three) linear accelerations and rotation rate sensors for measuring the three rotation rates, the acceleration sensors and the rotation rate sensors being parts of a prefabricated device-technical unit designed for installation in the wheeled vehicle.
- This unit is a special embodiment of a so-called inertial measurement unit (IMU).
- the IMU is designed to be attached to or near the center of gravity of a wheeled vehicle.
- the center of gravity of the wheeled vehicle or a vehicle body of the wheeled vehicle then preferably lies within the unit.
- the two (or three) linear accelerations can be measured by the measuring device as linearly independent measurement variables.
- the directions of the accelerations or acceleration components respectively detected by the acceleration sensors form the axes of a three-dimensional rectangular coordinate system.
- the measuring device is designed in such a way that the three coordinate axes each run in pairs perpendicular to one another.
- the measuring device can e.g. B. have a separate sensor for each measured variable. However, there are also sensors that measure two of the above-mentioned measured variables at the same time (e.g. two accelerations or two rotation rates).
- the measuring sensors of the measuring device for measuring the rotation rates and for measuring the linear accelerations are preferably attached to a vehicle body that is movable relative to a vehicle chassis.
- acceleration sensors measure a measurement variable influenced by the force of gravity.
- the acceleration sensor When the vehicle is at a standstill, the acceleration sensor only measures the effects of gravity. The actual acceleration then does not occur in the measured size.
- the dynamic acceleration quantity changed by the gravitational force of gravity is called the effective acceleration quantity.
- the effective acceleration quantity is a dynamic acceleration quantity changed by the gravitational force of gravity.
- the arrangement can have an orientation determining device which is designed to determine an orientation of the wheeled vehicle in a coordinate system external to the vehicle from the three rotation rates.
- a monitoring device is also proposed which is designed to monitor at least one of the measured linear accelerations using an output variable of the orientation determination device and using a comparison variable.
- the comparison variable in particular further variables not measured by the measuring device are used, for example a steering angle of at least one steerable wheel of the vehicle and / or a driving speed. If it is determined during the monitoring that a measured value of the measuring device z. B. is not reliable due to a sensor error, a suitable measure can be taken.
- an axle load and / or at least one wheel load can be reliably calculated even in safety-critical driving situations, in particular when high accelerations and / or rapid rotational movements of the vehicle occur.
- Examples of driving situations in which previously known methods for calculating the load cannot be used or can only be used to a limited extent relate to cornering, driving on sideways inclined ground and / or journeys when the vehicle body rotates sideways (when the vehicle body is swaying).
- one term or several terms can be taken into account on the basis of the rotation rates and accelerations, about which previously no measured information was available.
- These include: - Terms that take into account loads due to a movement of the vehicle and / or a vehicle body transverse to the plane of the ground, terms that take into account a relative movement between a vehicle body and a chassis of the vehicle, and / or Terms that take into account a moment of inertia of the vehicle and / or a vehicle part (in particular a vehicle body) during a rotational movement.
- the evaluation device can have a calculation unit which is designed to calculate at least a partial axle load and / or a partial wheel load using a measured value measured by the measuring device for a linear acceleration directed transversely to the plane of a vehicle ground; to use the three rotation rates to calculate at least one partial axle load and / or one partial wheel load which is generated by a rotational movement of the wheeled vehicle and / or by a rotational movement of a part of the wheeled vehicle; and or - Taking into account a, in particular damped, suspension between at least one of the wheels of the wheeled vehicle and a vehicle body, the axle load and / or wheel load. to calculate
- the calculation unit z. B a microprocessor.
- the method according to the invention also makes it possible to make a reliable prediction of a driving situation, wherein at least two calculated axle loads and / or wheel loads are used to calculate in advance whether one wheel of the wheeled vehicle or several wheels of the wheeled vehicle will lose contact with a surface.
- loads for different wheels of the vehicle are regarded as functions of time and these functions are repeatedly extrapolated, so that at least a future value of the loads is obtained in each case.
- a system for actively controlling the undercarriage or coupling the undercarriage to a vehicle body can take a suitable measure to avoid the dangerous situation. For example, it is possible to brake individual or multiple wheels of the vehicle.
- FIG. 1 is a road motor vehicle with an arrangement for determining dynamic axle loads and wheel loads
- 2 shows an embodiment of the evaluation device shown in FIG. 1 in combination with a measuring device
- FIG. 3 shows the measuring device shown in FIG. 1 in a common housing with the evaluation device
- FIG. 4 shows a model of a road motor vehicle with a chassis and with a vehicle structure connected to the chassis via a damped suspension, in a side view,
- FIG. 5 shows the model according to FIG. 4 from the front,
- FIG. 6 shows an illustration of a road motor vehicle to explain dimensions and angles
- FIG. 7 shows an example of an embodiment of the measuring device shown in FIG. 1.
- the road motor vehicle 20 shown in FIG. 1 has two front wheels and two rear wheels, of which the right front wheel is designated by the reference number 22 and of which the right rear wheel is designated by the reference number 24.
- the front wheels are assigned to a front axle 26.
- the rear wheels are assigned to a rear axle 27.
- the wheels assigned to an axle rotate coaxially when the road motor vehicle 20 is traveling straight, i. H. they have a common axis of rotation.
- a measuring device 1 is arranged in the road motor vehicle 20 and is connected to an evaluation device 9 for determining axle loads and wheel loads of the road vehicle 20.
- the measuring device 1 has, for example, an acceleration measuring device 3 and a rotation rate measuring device 4.
- the measuring device 1 is in particular a prefabricated structural unit, the corresponding measuring sensors for measuring the accelerations and rotation rates being arranged in a fixed position in the unit relative to one another.
- the structural unit is special intended to be attached to or near the center of gravity of a motor vehicle, with a particular orientation being sought in the motor vehicle.
- the acceleration measuring device 3 has three linear acceleration sensors 31, 32, 33 (FIG. 7), which are arranged such that one of the acceleration sensors in each case measures an acceleration or acceleration component of the vehicle in the direction of the axes of a Cartesian coordinate system, wherein the x-axis points forward in the longitudinal direction of the vehicle, the y-axis is directed transversely to the longitudinal axis and the z-axis (in the case of a horizontally oriented vehicle) points vertically upwards.
- a coordinate system is shown schematically in FIG. 6. This figure shows a road motor vehicle 20 with two steerable front wheels 21, 22 and two non-steerable rear wheels 23, 24.
- the front wheels are turned to the left in the state shown and have a steering angle of ⁇ L (left front wheel 21) or ⁇ R (right front wheel 22).
- the front wheels 21, 22 are at a distance (wheelbase) s F
- the rear wheels 23, 24 are at a distance s R from one another.
- r R denotes the radius of the rear wheels 23, 24.
- the measuring device 1 In the longitudinal direction approximately in the middle of a vehicle body 25, the measuring device 1 is arranged. It has a distance 1 F in the longitudinal direction from the axis of the front wheels 21, 22 and a distance 1 R from the axis of the rear wheels 23, 24.
- the invention is not limited to wheel vehicles with front wheel steering. Rather, z.
- the rear wheels can also be steered.
- FIG. 2 An exemplary embodiment of the arrangement shown in FIG. 1 is shown in FIG. 2.
- the acceleration measuring device 3 is connected to the evaluation device 9 via a filter device 5.
- Measuring device 4 is also connected to evaluation device 9 via filter device 5.
- the filter device 5 shown in FIG. 2 is representative of further filter devices that can additionally be provided in the arrangements shown in FIGS. 1 to 3 or in the case of modified arrangements.
- the filtering of measurement signals and / or signals derived therefrom carried out by the filter devices serves in particular to eliminate any noise and to eliminate high-frequency fluctuations in the measurement signals, for example due to vibrations in the vehicle body.
- the filter devices can in particular have at least one low-pass filter and / or at least one band-pass filter.
- the filter device 5 filters the acceleration signals measured by the acceleration measurement sensors of the acceleration measurement device 3 and the rotation rate signals measured by the rotation rate measurement sensors of the rotation rate measurement device 4 before they are transmitted to the evaluation device 9.
- the measuring device 1 and the evaluation device 9 can be arranged together with further units and / or devices in a common housing 2.
- the evaluation device 9 can have a calculation unit 11 and a monitoring device 10.
- the calculation unit 11 is used to calculate axle loads and / or wheel loads of the vehicle.
- the monitoring device 10 is used to monitor the measurement signals generated by the measuring device 1.
- the monitoring device 10 Using measurement signals of a steering angle and a vehicle speed, which are received via an input 6, the monitoring device 10 carries out monitoring of at least one of the variables measured by the measuring device 1.
- the monitoring device 10 uses for monitoring the linear accelerations at least two angles (the roll angle and pitch angle of the vehicle obtained by integrating the rotation rates), which are a measure of the orientation of the vehicle in an earth-fixed coordinate system. In this way, it can take into account that the measured linear accelerations, depending on the orientation of the vehicle relative to the earth-fixed coordinate system, contain a component that can be traced back to gravity.
- the calculation unit 11 can be connected to an extrapolation unit 12 in order (as already explained) to make a prediction about a driving situation in the future, in which at least one of the wheels of the vehicle makes contact with the vehicle No longer, or no longer adequately, underground.
- an interface 13 to which the extrapolation unit 12 is connected Via an interface 13 to which the extrapolation unit 12 is connected, corresponding information about such a driving situation can be output to a system that initiates suitable measures to prevent the dangerous driving situation (eg roll-over protection).
- the sums of several wheel loads are to be calculated in each case, in each case either all wheels on one axle or all wheels on one side of the vehicle being included. For example, on this
- the front axle load, the rear axle load, the sum of the wheel loads of the right wheels and / or the sum of the wheel loads of the left wheels are calculated. Only two of the acceleration quantities measured by the measuring device are required for each of these calculations.
- the linear acceleration in the z direction belongs in each case to these two acceleration quantities (FIG. 6). Which size is the second certificate size depends on the total to be calculated.
- the acceleration in the x direction is used as the second linear acceleration variable.
- the acceleration in the y direction is used as the second acceleration variable.
- a term describing the inertia of the vehicle during a rotary movement is taken into account for each of these sums of wheel loads. All three rotation rates measured by the measuring device are preferably used for this term.
- the vehicle is considered a rigid body, i. H. no terms are taken into account which represent a (in particular damped) suspension between the wheels and a vehicle body.
- the dynamic front axle load jfp is defined as the sum of the contact forces of the front wheels and the dynamic rear axle load J ⁇ R as the sum of the contact forces of the rear wheels.
- the forces can be calculated using the following equations:
- a CG, j> J ⁇ x >> z are the measurement signals for the linear acceleration determined by the measuring device and in particular processed by filtering and / or further measures, assuming that the measuring device is at the center of gravity the vehicle is arranged. If this is not the case, the measured values are converted to the center of gravity.
- l R and l F are the distances already introduced with reference to FIG. 6 between the measuring device and the rear axle or the front axle, rri y the mass of the vehicle, h CG the
- J CG is the inertia tensor of the vehicle with respect to the center of gravity, the coordinate axes being oriented in the direction of the measuring directions of the sensors.
- S F is the wheelbase that is assumed to be the same size for the front wheels and for the rear wheels.
- the corresponding equation for the right wheels can be obtained by reversing the sign of the second addend on the right side of this equation. This takes into account that an acceleration in the y direction (that is, transversely to the direction of travel) has the opposite effect for the contact forces of the right wheels and the left wheels.
- the sum of the wheel loads of the left wheels and / or the sum of the wheel loads of the right wheels can be used and the extrapolation already described can be carried out.
- the sum of the wheel loads of the right wheels can be compared with the sum of the wheel loads of the right wheels. Since the corresponding equations sometimes contain identical terms, it may be sufficient for certain applications and / or in certain driving situations to evaluate the terms with the opposite sign. In these cases, the comparison can therefore be reduced to a calculation of the term or terms, the sign of which is reversed for the right wheels and for the left wheels. In the comparison, it can be checked in particular whether a predetermined limit value has been reached or exceeded. If this is the case, a signal is output to a system for stabilizing vehicle driving, for example.
- the main features of the model described above are the assumption of a rigid vehicle and the creation of an angular momentum balance (or an equivalent balance) of the wheels in question (e.g. front wheels, rear wheels or left wheels). With such a model, however, the wheel loads of individual wheels cannot be determined.
- measuring values of the measuring device arranged in the body can be determined.
- a vehicle body 28 has a center of gravity CG and is via springs 40, 41, 43 (only three of the four wheels are shown in the two figures) and via parallel to the springs 40, 41, 43 acting damping members 44, 45, 47 individually connected to the four wheels 21, 22, 23, 24. Since the wheels 21, 22, 23, 24 are not directly mechanically coupled to one another, one can also speak of a five-mass model.
- the wheels 21, 22, 23, 24 stand on the ground 30 (e.g. a roadway).
- K R r ⁇ i> - ⁇ parameters of the vehicle which correspond to a linear spring force of the respective movement component of the degree of freedom
- ⁇ ⁇ , J p , T parameters of the vehicle which have a linear damping term.
- c R , c p further parameters of the vehicle, ⁇ the relative angle of rotation between the vehicle body and chassis around the x-axis (roll angle), & the relative angle of rotation between vehicle body and chassis around the y-axis (pitch angle) and those arranged in the vehicle body
- Measuring device measured linear accelerations in the x, y and z directions.
- All parameters can be determined, for example, experimentally and / or computationally for a specific vehicle or a specific vehicle type.
- This model requires the vehicle body to be rigid in itself and is therefore suitable for driving motor vehicles on roads. As described, this model takes into account roll and pitch movements and is therefore particularly suitable for driving situations and / or vehicles in which such movements occur. This is especially the case for vehicles with a high center of gravity of the vehicle body, z. B. in trucks and off-road vehicles.
- the springs can be described as non-linear springs, in one or more of the equations, in particular in the equation for the pitch angle ⁇ , a distribution can be made a braking force or braking forces and / or a driving force or driving forces (e.g. in all-wheel drive vehicles) via the wheels are additionally taken into account and / or the equations can be coupled at least in part.
- simplifying assumptions can be made, e.g. B. the neglect of the mass of the chassis compared to the mass of the vehicle body, the assumption that the measuring point at which the measuring device measures the rotation rates and linear accelerations and / or through which the three axes of rotation run is the focus of the vehicle body and / or the assumption that the height difference (in the z direction) from the measuring point to the four points of attack, at which spring forces from the springs acting between the wheels and the vehicle body act on the vehicle body, is the same for all four wheels.
- This simplified model is particularly suitable for vehicles with a low center of gravity of the vehicle body, for driving on level ground (as opposed to rough roads) and driving at high speed. For example, it can be determined in a specific embodiment whether one of these conditions is present. If this is the case, the calculation unit uses the simplified model. Otherwise, the underlying model is used, taking the suspension into account.
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020067013937A KR101168443B1 (ko) | 2003-12-12 | 2004-11-24 | 차륜 자동차의 동축 하중 및 차륜 하중 중 하나 이상을 측정하는 장치 및 방법 |
US10/596,363 US7340368B2 (en) | 2003-12-12 | 2004-11-24 | Determination of dynamic axle loads and/or wheel loads of a wheel vehicle |
EP04820067A EP1692025A1 (de) | 2003-12-12 | 2004-11-24 | Bestimmung von dynamischen achsfasten und/oder radlasten eines radfahrzeuges |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10358335.1 | 2003-12-12 | ||
DE10358335A DE10358335B3 (de) | 2003-12-12 | 2003-12-12 | Bestimmung von dynamischen Achslasten und/oder Radlasten eines Radfahrzeuges |
Publications (1)
Publication Number | Publication Date |
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WO2005056358A1 true WO2005056358A1 (de) | 2005-06-23 |
Family
ID=34485355
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/053080 WO2005056358A1 (de) | 2003-12-12 | 2004-11-24 | Bestimmung von dynamischen achsfasten und/oder radlasten eines radfahrzeuges |
Country Status (6)
Country | Link |
---|---|
US (1) | US7340368B2 (de) |
EP (1) | EP1692025A1 (de) |
KR (1) | KR101168443B1 (de) |
CN (1) | CN100422007C (de) |
DE (1) | DE10358335B3 (de) |
WO (1) | WO2005056358A1 (de) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4282072B2 (ja) * | 2004-09-30 | 2009-06-17 | 本田技研工業株式会社 | 二輪車の運転者負荷測定方法、装置およびプログラムならびにその記憶媒体 |
JP4471103B2 (ja) * | 2004-10-07 | 2010-06-02 | トヨタ自動車株式会社 | 車両の制駆動力制御装置 |
US20060184300A1 (en) * | 2005-02-11 | 2006-08-17 | Schubert Peter J | Vehicle rollover detection method based on differential z-axis acceleration |
JP4878062B2 (ja) * | 2007-03-05 | 2012-02-15 | 国立大学法人横浜国立大学 | 自動車のピッチング制御装置および制御方法 |
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2003
- 2003-12-12 DE DE10358335A patent/DE10358335B3/de not_active Expired - Fee Related
-
2004
- 2004-11-24 CN CNB2004800368732A patent/CN100422007C/zh not_active Expired - Fee Related
- 2004-11-24 KR KR1020067013937A patent/KR101168443B1/ko not_active IP Right Cessation
- 2004-11-24 US US10/596,363 patent/US7340368B2/en not_active Expired - Fee Related
- 2004-11-24 WO PCT/EP2004/053080 patent/WO2005056358A1/de active Application Filing
- 2004-11-24 EP EP04820067A patent/EP1692025A1/de not_active Withdrawn
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Also Published As
Publication number | Publication date |
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CN1890140A (zh) | 2007-01-03 |
DE10358335B3 (de) | 2005-05-25 |
US7340368B2 (en) | 2008-03-04 |
CN100422007C (zh) | 2008-10-01 |
US20070078593A1 (en) | 2007-04-05 |
EP1692025A1 (de) | 2006-08-23 |
KR101168443B1 (ko) | 2012-07-25 |
KR20070007042A (ko) | 2007-01-12 |
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