WO2008003533A1 - Method for determining the immobile position of a vehicle - Google Patents

Method for determining the immobile position of a vehicle

Info

Publication number
WO2008003533A1
WO2008003533A1 PCT/EP2007/054042 EP2007054042W WO2008003533A1 WO 2008003533 A1 WO2008003533 A1 WO 2008003533A1 EP 2007054042 W EP2007054042 W EP 2007054042W WO 2008003533 A1 WO2008003533 A1 WO 2008003533A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
state
sensors
vehicle
absolute
condition
Prior art date
Application number
PCT/EP2007/054042
Other languages
German (de)
French (fr)
Inventor
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

Links

Classifications

    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07CTIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00Registering or indicating the working of vehicles
    • G07C5/08Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841Registering performance data
    • G07C5/085Registering performance data using electronic data carriers

Abstract

The invention relates to a method for determining the immobile position of a vehicle. According to the invention, an economical and reliable method, with improved precision on recognition of a state of absolute immobility with extensive avoidance of the disadvantages given for the state of the art, can be achieved, by means of a base step of analysis of current rotational speeds (V1, V2, V3, V4), sampled from sensors or a maximum value from the provided rotational speeds by comparison with a reliably detectable minimum speed (c) to give a first rapid and coarse approximation of the state of absolute immobility and only when an absolute state of immobility can be determined from the base step, is at least one of the current acceleration sensor signals combined to give a vector (a) and/or at least one of the current turn rate sensor signals, combined to give a vector (ω) determined or sampled from the sensors and the condition (I), checked with relation to the measured filtered first temporal derivations.

Description

A method for determining the rest position of a vehicle

The present invention relates to a process for Ruhela ¬ genbestimmung a vehicle.

In known methods, the wheel speeds of a vehicle are used to break the deadlock detected. However, this information is then useless when the vehicle is moving below a minimum speed, or is subjected to an ex ternal ¬ movement. This may for example be on a ferry or a Lift the case. Further, a rest position of a chassis of the vehicle is not the same as the rest ¬ position of the vehicle body. A vehicle body can be stimulated by rocking occupants and therefore be outside a rest position, not allowing as ¬ result from measurable wheel speeds. All these contributions deteriorate based on wheel speeds standstill detection and based thereon determining offset by certain sensors considerably.

It is therefore an object of the present invention to provide an inexpensive and reliably operating method Improvement ¬ ter accuracy in the detection of a state of absolute rest position to provide with substantial elimination of the above prior art drawbacks.

This problem is solved by the features of the independent claims to ¬. Advantageous further developments are subject of the respective dependent claims.

According to the invention a method for determining an absolute position of rest of a vehicle is characterized in that an evaluation of the retrieved from sensors current speeds Vi, V 2, V 3, V 4, or a respective maximum value un ¬ ter the existing speed by comparison with a still sure detectable minimum speed c forms a base step, a first quick and rough approximation to the state of absolute calm ¬ position. Can be used only when this base ¬ step by known methods to an absolute position of rest closed, then at least one of the currently applied acceleration sensor signals which are combined into a vector a and / or at least ei ¬ nes are of the currently applied Drehratensensor- signals which are combined to a vector ώ determined, or retrieved from the respective sensors. It follows in a further step, a check on whether the condition

± mε> -FiIt (S) = 0

is in reference to the appropriate filtered first time Ablei ¬ processing of the vectors a and ώ satisfied, that is approximately zero.

In a particularly preferred embodiment of the invention includes, in the case that both the foregoing conditions have been evaluated with a positive result, a REVIEW Ü the presence of a condition of an extremely constant acceleration or rotation. This case extremely constant translational acceleration can in the presence of three linearly independent arranged acceleration sensors by projection on rectangular coordinates by violating the condition (a x) 2 + (a y) 2 + (a z) are detected 2≥ g 2, wherein with g the acceleration due to gravity and with a i = x, y, z, the accelerations are designated in the three spatial axes.

In the case of extremely constant rotational acceleration can to violate the condition be recognized.

Other features and advantages of the invention will nachfol ¬ quietly under description of an embodiment with Bezug- would take on the image of the drawing. The figure of the drawing shows a flow diagram of an embodiment of an inventive method for Ruhelagenbe ¬ humor of a vehicle with the respective evaluation steps in a discrete-time process at a time and the factors involved therein.

To start 1 comprises a basic step of a query and to ¬ following evaluation of wheel speeds Vi, V 2, V 3, V 4 of the JE weiligen sensors. This base Step 1 provides a first quick and for relatively rough approximation to the state of rest of the chassis relative to the ground of the vehicle. As already known from the prior art Stillstandserkennern is to be checked condition that a maximum value of the available values less than a threshold must be c: max (I Vi I, IV 2 1 IV 3 1 IV 4 1 , IV ref |) <c.

Here, V 2, V 3, V is other than the wheel speeds Vi, 4 nor otherwise obtained reference speed V re f herangezo ¬ gene. In this case V re f represents in the present example, from the wheel speeds V 1, V 2, V 3, V 4 calculated as components of the overall speed is the vehicle under consideration.

A movement that is caused by Chassisbewegun ¬ gen, external movements and / or internal excitations of the vehicle body, can not be detected in step 1. Through these movements, a vehicle is not true in from ¬ soluter calm, however, these movements do not show in principle borrowed measurable responses to the wheel speed sensors. However, such movements can be detected when the vehicle acceleration and rotation rate are analyzed. Since these quantities are subject to offsets, which are here to be very low frequency and thus assumed to be quasi DC components, the time derivatives of the filtered are

analyzing sensor signals. Thus the offsets fall out. Therefore to be expected are signals having a constant value as possible in which a degree of suppression of the influence of Rau ¬ rule by applying a filter, in particular a digi tal ¬ low pass filter is achieved.

Offsets in this sense may be normal zero drift of the sensors, gravity posts or external movements. The derivative can be understood as a frequency analyzer, in this sense, looking for vibrations of the vehicle body. For this, the vectors a and formed ώ, a low-pass filtering are subjected to and with respect to time.

is then the inside of the core of the analysis step 2, a second and much more stringent condition for the recognition of absolute rest of the vehicle, that the relations for a certain very short period are met.

If the conditions of the steps shown above 1 and 2 are simultaneously satisfied, is the vehicle ¬ construction in absolute tranquility, or in a state of extremely considered constant acceleration or rotation over several sampling time. This last still possible state is detected by a separate test step 3: The case of constant acceleration can nigungssensoren in the presence of three linearly independent arranged accelera-, by projection on rectangular coordinates by violating the condition

(a x) 2 + (a y) 2 + (a z) 2 -g 2 are detected, where g is the gravitational acceleration. The case of constant rotation can be realized thereby, that the measurement value of the rotation rate signal, in this case the offset ad ¬ diert reflects the external rotation (c5 = 0). It can be recognized all external constant twists and eliminated that differ from conventional sensor specifications.

In a process of this invention thus is the simultaneous evaluation of at least one of the wheel speeds Vi, V 2, V 3, V 4, at least one of the acceleration sensor signals which are combined into a vector a and / or min ¬ least one of the yaw rate sensor signals ώ are summarized in a vector used. The state of absolute rest is detected in three steps based on each other, each of which is only executed if a respective preceding step has detected a vehicle standstill. One also increasing with increasing accuracy of the investi ¬ monitoring effort makes a erfindungsge- mäßes method total with extreme accuracy even from ¬ sufficiently quickly and economically.

Thus, the invention also allows to carry out with the aid of wheel ¬ speeds, acceleration and angular rate sensors, a highly accurate offset determination of the rotation rate sensors and a subsequent compensation. The offset determination of the rotation rate sensors designed as a simple readout of deviation of the respective sensors of known fixed presumed zero value, which characterizes the state of absolute rest of the vehicle.

Claims

claims
1. Process for the rest position of a vehicle, since you rchgekennzeichnet that an evaluation of the retrieved from sensors current speeds (Vi, V 2, V 3, V 4) or a respective maximum value below the existing speed by comparison with a still safe detectable minimum speed c a first quick and rough approximation to the state of absolute rest position after the condition max (I Vi I, | V 2 |, IV 3 1 IV 4 1, IV ref I) <c form a basic step, and only in the case, that can be closed on an absolute position of rest in the base step, at least one of the currently applied acceleration sensor signals wel ¬ che to a vector (a) are combined and / or at least one of the currently applied angular rate sensor signals to a vector (ώ) are summarized determined and interrogated by the respective sensors and the condition will be reviewed in terms of adequately filtered first time derivatives.
2. The method of claim 1, since you rchgekennzeichnet that in the case that both of the above conditions have been evaluated with a positive result, a Überprü- evaporation to a violation of the condition
(a x) 2 + (a y) 2 + (a z) 2 -g 2 is connected.
3. The method of claim 2, since you rchgekennzeichnet that upon detection of an absolute position of rest a highly precise offset determination of the rotation rate sensors is carried out by, upon detection of a state of the abso ¬ Luten rest of the vehicle deviation of the respective sensors of the currently detected zero value are read out.
4. The method of claim 1, since you rchgekennzeichnet that in the case that both of the above conditions have been evaluated with a positive result, a Überprü ¬ evaporation to a violation of the condition followed.
PCT/EP2007/054042 2006-07-03 2007-04-25 Method for determining the immobile position of a vehicle WO2008003533A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE200610030593 DE102006030593B4 (en) 2006-07-03 2006-07-03 A method for determining the rest position of a vehicle
DE102006030593.0 2006-07-03

Publications (1)

Publication Number Publication Date
WO2008003533A1 true true WO2008003533A1 (en) 2008-01-10

Family

ID=38234885

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/054042 WO2008003533A1 (en) 2006-07-03 2007-04-25 Method for determining the immobile position of a vehicle

Country Status (2)

Country Link
DE (1) DE102006030593B4 (en)
WO (1) WO2008003533A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2947506A1 (en) * 2009-07-06 2011-01-07 Renault Sa Method and apparatus for detection of a transport position of a vehicle in standby mode, and vehicle fitted with such a device
FR2947505A1 (en) * 2009-07-06 2011-01-07 Renault Sa Method and good immobilization monitoring device in the transport position of a vehicle in standby mode, and vehicle fitted with such a device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265468A (en) * 1991-03-02 1993-11-30 Wabco Standard Gmbh Error detection and display system
EP0862059A1 (en) * 1997-02-27 1998-09-02 Mannesmann VDO Aktiengesellschaft Method for evaluating movement data of a vehicle with regard to an accident
WO2002048969A2 (en) * 2000-12-12 2002-06-20 N'oxid S.P.A. Electronic device to be installed aboard vehicles and/or boats, for obtaining information particularly useful in case of an accident
DE10144076A1 (en) * 2001-09-07 2003-03-27 Daimler Chrysler Ag Method for early recognition and prediction of unit damage or wear in machine plant, particularly mobile plant, based on vibration analysis with suppression of interference frequencies to improve the reliability of diagnosis

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5736923A (en) * 1995-07-11 1998-04-07 Union Switch & Signal Inc. Apparatus and method for sensing motionlessness in a vehicle
US5895433A (en) * 1996-05-23 1999-04-20 General Motors Corporation Vehicle chassis system control method and apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265468A (en) * 1991-03-02 1993-11-30 Wabco Standard Gmbh Error detection and display system
EP0862059A1 (en) * 1997-02-27 1998-09-02 Mannesmann VDO Aktiengesellschaft Method for evaluating movement data of a vehicle with regard to an accident
WO2002048969A2 (en) * 2000-12-12 2002-06-20 N'oxid S.P.A. Electronic device to be installed aboard vehicles and/or boats, for obtaining information particularly useful in case of an accident
DE10144076A1 (en) * 2001-09-07 2003-03-27 Daimler Chrysler Ag Method for early recognition and prediction of unit damage or wear in machine plant, particularly mobile plant, based on vibration analysis with suppression of interference frequencies to improve the reliability of diagnosis

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2947506A1 (en) * 2009-07-06 2011-01-07 Renault Sa Method and apparatus for detection of a transport position of a vehicle in standby mode, and vehicle fitted with such a device
FR2947505A1 (en) * 2009-07-06 2011-01-07 Renault Sa Method and good immobilization monitoring device in the transport position of a vehicle in standby mode, and vehicle fitted with such a device
WO2011004106A1 (en) * 2009-07-06 2011-01-13 Renault S.A.S. Method and device for monitoring that a vehicle in standby mode is correctly immobilized for transport, and vehicle equipped with such a device
WO2011004107A1 (en) * 2009-07-06 2011-01-13 Renault S.A.S. Method and device for the detection of a transported situation of a vehicle in standby mode, and vehicle equipped with such a device
CN102481908A (en) * 2009-07-06 2012-05-30 雷诺股份公司 Method and device for the detection of a transported situation of a vehicle in standby mode, and vehicle equipped with such a device
CN102548816A (en) * 2009-07-06 2012-07-04 雷诺股份公司 Method and device for monitoring that a vehicle in standby mode is correctly immobilized for transport, and vehicle equipped with such a device
US8688310B2 (en) 2009-07-06 2014-04-01 Renault S.A.S. Method and device for monitoring that a vehicle in standby mode is correctly immobilized for transport, and vehicle equipped with such a device
US8983711B2 (en) 2009-07-06 2015-03-17 Renault S.A.S. Method and device for the detection of a transported situation of a vehicle in standby mode, and vehicle equipped with such a device

Also Published As

Publication number Publication date Type
DE102006030593A1 (en) 2008-01-31 application
DE102006030593B4 (en) 2013-06-13 grant

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