WO2008003530A1 - Procédé et dispositif de détermination du sens de parcours d'un véhicule - Google Patents

Procédé et dispositif de détermination du sens de parcours d'un véhicule Download PDF

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Publication number
WO2008003530A1
WO2008003530A1 PCT/EP2007/053543 EP2007053543W WO2008003530A1 WO 2008003530 A1 WO2008003530 A1 WO 2008003530A1 EP 2007053543 W EP2007053543 W EP 2007053543W WO 2008003530 A1 WO2008003530 A1 WO 2008003530A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
time step
travel
determining
wheel speeds
Prior art date
Application number
PCT/EP2007/053543
Other languages
German (de)
English (en)
Inventor
Andreas Jung
Matthias Kretschmann
Zheng-Yu Jiang
Herbert Preis
Original Assignee
Continental Automotive Gmbh
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 Continental Automotive Gmbh filed Critical Continental Automotive Gmbh
Publication of WO2008003530A1 publication Critical patent/WO2008003530A1/fr

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Classifications

    • 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
    • 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
    • B60W2520/06—Direction of travel

Definitions

  • the present invention relates to a method for determining the direction of travel of a vehicle and to a corresponding device.
  • the behavior of the yaw rate is usually compared with a reference value calculated from the values of the wheel speeds. If the yaw rates differ by a factor of -1, the vehicle detects reversing. If the measured and calculated yaw rate differs by a factor of +1, that is, not at all, forward travel is detected.
  • the reliable detection of the factor +1 or -1 is only possible with a certain time delay, which depends essentially on a respective driven curve radius. A secure detection can thus take any length, when the vehicle is driving straight ahead.
  • a method for determining the direction of travel of a vehicle is characterized in that at least two wheel speeds correlated with a slow acceleration sensor or, alternatively, a pitch rate sensor are analyzed to output conditions on the basis of which Direction of travel decision is made according to a state diagram.
  • a device for determining the direction of travel of a vehicle is characterized in that at least two wheel speed sensors and a slow acceleration sensor or alternatively a pitch rate sensor are connected to a correlation logic, the logic for determining a direction of travel by evaluating from the réellesigna- len derived or specific conditions based on a stored in the logic state diagram is formed.
  • the acceleration sensor is arranged to measure a positive value at an acceleration directed in the vehicle longitudinal direction.
  • the pitch rate sensor is arranged so that it assumes a positive value when nodding forward.
  • a basis for the decision making about the direction of travel is a state diagram in which it is only allowed to change between the states on the basis of well-defined conditions.
  • the allowed vehicle states are
  • a fundamental feature of a method according to the invention is that a transition from 0 to +1 or -1 occurs precisely when the vehicle is just starting to move. This limit is given by the fact that a minimum measurable speed y is exceeded.
  • a vehicle speed to be compared at a j-th time step is defined by with the existing wheel speeds y, V 2 and a reference speed ⁇ j of the vehicle obtained from the wheel speeds.
  • of the vehicle at a j-th time step is to be used if all the wheels block and thus interchange a false standstill.
  • the vehicle begins to move at a j-th time step if and only if the condition is satisfied with respect to a previous time j-1.
  • a first time derivative of the appropriately filtered longitudinal acceleration a x is evaluated.
  • a filter of the first order can be used for noise suppression. Is exactly at this time the first time derivative of the thus treated longitudinal acceleration a x positively, then the vehicle experiences an acceleration impulse in the forward direction, which suggests a subsequent forward drive. If the acceleration pulse is negative at this time, then there is a reverse direction change in direction.
  • acceleration pulse or the pitch rate is not sufficiently pronounced to be able to make a decision, then a prior art method cited above, used to perform an additional plausibility check for a transition from 0 to +1 or -1.
  • the secure detection in an embodiment of the invention using the yaw rate signal is to be expressed in that the measured yaw rate ⁇ es either against the calculated Gxerrate ⁇ or the negative of the
  • yaw rate -Q Meas calculated yaw rate -Q) is convergent 2, ie, Q ⁇ Z -> + CO aC •
  • the yaw rate may be calculated from the wheel speeds of a shaft and / or optionally a steering wheel angle detected in one embodiment of the invention with its own sensor.
  • a direct transition between the states +1 and -1 can occur if the detected state appears implausible. Such a transition may occur when the vehicle makes a spin-induced directional change without stalling.
  • the transition from -1 to +1 is made when the wheel speeds reflect a vehicle speed that is greater than the maximum possible reverse vehicle speed of the vehicle, or when the measured yaw rate converges to the calculated yaw rate,
  • a transition from +1 to -1 occurs when the measured yaw rate converges to the negative of the calculated yaw rate and at the same time the vehicle speed is less than the maximum possible return travel speed, 'ref ; v ref
  • a method according to the invention makes it possible to reliably and quickly recognize a respective driving direction state, irrespective of a particular driving situation. Since many wheel speed sensors indicate only the amount, but not the direction of the speed of a wheel, the additional information obtained is of great interest for all functions that depend on the current direction of travel. A delay in detection is given only by the filter used to calculate the derivative of slow acceleration with noise cancellation. This time delay is erfmdungsgeether in a range of only 100 ms to 500 ms, even when using standard sensors. Furthermore, spin-induced directional changes of the vehicle in question can be detected.
  • Drawing shows the figure a complete state diagram of a method according to the invention.
  • the major players involved which are only partially referred directly to corresponding sensors within a vehicle as their output signals, are shown per decision with respective conditions.
  • the method now proceeds in the following steps: 1. Recording of the existing wheel speeds yj jh, ⁇ 9 , .... from the corresponding sensors at a time step j; 2. Computational determination of a reference speed y J of the vehicle from the wheel speeds ⁇ J , y J ? ....;
  • Vehicle can be accepted.
  • the method described above with reference to the drawing of the drawing allows a respective direction of travel status to be reliably detected independently of a respective driving situation and comparatively quickly at a time delay of approximately 100 ms to 500 ms caused by the filtering in step 6.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé de détermination du sens de parcours d'un véhicule, ainsi qu'un dispositif correspondant. L'invention a pour but de fournir un procédé d'une mise en oeuvre rapide et sûre, ainsi qu'un dispositif correspondant, permettant de détecter le sens de parcours d'un véhicule et, à cet effet, est caractérisée en ce qu'au moins deux vitesses de rotation des roues pour la détermination des vitesses de roues ( Vj1, Vj2,....) sont évaluées, corrélées, et en ce qu'au moyen d'un détecteur, une accélération longitudinale (ax) ou, en variante, une vitesse de tangage est mesurée pour un intervalle de temps (j), et ces grandeurs sont analysées ensemble, en vue de fournir des conditions sur la base desquelles une décision de sens de parcours peut être prise en fonction d'un diagramme d'état.
PCT/EP2007/053543 2006-07-03 2007-04-12 Procédé et dispositif de détermination du sens de parcours d'un véhicule WO2008003530A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006030590.6A DE102006030590B4 (de) 2006-07-03 2006-07-03 Verfahren und Vorrichtung zur Bestimmung der Fahrtrichtung eines Fahrzeugs
DE102006030590.6 2006-07-03

Publications (1)

Publication Number Publication Date
WO2008003530A1 true WO2008003530A1 (fr) 2008-01-10

Family

ID=38222310

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/053543 WO2008003530A1 (fr) 2006-07-03 2007-04-12 Procédé et dispositif de détermination du sens de parcours d'un véhicule

Country Status (2)

Country Link
DE (1) DE102006030590B4 (fr)
WO (1) WO2008003530A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010051869A1 (fr) * 2008-11-08 2010-05-14 Wabco Gmbh Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule
US8880288B2 (en) 2009-06-16 2014-11-04 Robert Bosch Gmbh Determining low-speed driving direction in a vehicle

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011080033A1 (de) * 2010-07-29 2012-02-02 Continental Teves Ag & Co. Ohg Verfahren zur Ermittlung der Fahrtrichtung eines Kraftfahrzeugs
CN110979337B (zh) * 2019-12-27 2021-05-18 潍柴动力股份有限公司 一种车辆纵向加速度计算方法、装置、服务器及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0492642A2 (fr) * 1990-12-27 1992-07-01 Sumitomo Electric Industries, Ltd. Dispositif d'estimation de la direction d'avancement d'un véhicule
US6141605A (en) * 1999-06-25 2000-10-31 Ford Global Technologies, Inc. Determining the direction of travel of an automotive vehicle from yaw rate and relative steering wheel angle
WO2002062640A1 (fr) * 2001-01-11 2002-08-15 Continental Teves Ag & Co. Ohg Procede et dispositif de reconnaissance de sens de deplacement
US6577948B1 (en) * 2002-09-18 2003-06-10 Continental Teves, Inc. Algorithm for determining travel direction for automobiles
FR2854222A1 (fr) * 2003-04-24 2004-10-29 Bosch Gmbh Robert Procede et dispositif de controle d'un commutateur de marche arriere dans un vehicule automobile
JP2005178573A (ja) * 2003-12-19 2005-07-07 Nissan Motor Co Ltd 後輪転舵制御装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19515061A1 (de) * 1994-11-25 1996-05-30 Teves Gmbh Alfred System zur Fahrstabilitätsregelung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0492642A2 (fr) * 1990-12-27 1992-07-01 Sumitomo Electric Industries, Ltd. Dispositif d'estimation de la direction d'avancement d'un véhicule
US6141605A (en) * 1999-06-25 2000-10-31 Ford Global Technologies, Inc. Determining the direction of travel of an automotive vehicle from yaw rate and relative steering wheel angle
WO2002062640A1 (fr) * 2001-01-11 2002-08-15 Continental Teves Ag & Co. Ohg Procede et dispositif de reconnaissance de sens de deplacement
US6577948B1 (en) * 2002-09-18 2003-06-10 Continental Teves, Inc. Algorithm for determining travel direction for automobiles
FR2854222A1 (fr) * 2003-04-24 2004-10-29 Bosch Gmbh Robert Procede et dispositif de controle d'un commutateur de marche arriere dans un vehicule automobile
JP2005178573A (ja) * 2003-12-19 2005-07-07 Nissan Motor Co Ltd 後輪転舵制御装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010051869A1 (fr) * 2008-11-08 2010-05-14 Wabco Gmbh Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule
US8880288B2 (en) 2009-06-16 2014-11-04 Robert Bosch Gmbh Determining low-speed driving direction in a vehicle

Also Published As

Publication number Publication date
DE102006030590B4 (de) 2023-11-30
DE102006030590A1 (de) 2008-01-31

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