WO2008149607A1 - 車両の横転防止装置 - Google Patents

車両の横転防止装置 Download PDF

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Publication number
WO2008149607A1
WO2008149607A1 PCT/JP2008/057449 JP2008057449W WO2008149607A1 WO 2008149607 A1 WO2008149607 A1 WO 2008149607A1 JP 2008057449 W JP2008057449 W JP 2008057449W WO 2008149607 A1 WO2008149607 A1 WO 2008149607A1
Authority
WO
WIPO (PCT)
Prior art keywords
tractor
trailer
roll angle
estimated
roll
Prior art date
Application number
PCT/JP2008/057449
Other languages
English (en)
French (fr)
Inventor
Toshihiko Iwama
Original Assignee
Isuzu Motors Limited
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 Isuzu Motors Limited filed Critical Isuzu Motors Limited
Publication of WO2008149607A1 publication Critical patent/WO2008149607A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/08—Fifth wheel traction couplings
    • B62D53/0871—Fifth wheel traction couplings with stabilising means, e.g. to prevent jack-knifing, pitching, rolling, buck jumping
    • 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
    • B60G17/018—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 use of a specific signal treatment or control method
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/04—Trailers
    • B60G2300/042—Semi-trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/04—Trailers
    • B60G2300/044—Truck-trailer connections
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B60G2800/0124—Roll-over conditions

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

　トラクタとトレーラから成る車両の横転防止装置において、トラクタヘッド側でトレーラのロール角検出が正確に行えるようにするため、トラクタの後部ロール角(RHr)を検出し、トラクタ及びトレーラの連結総重量(Wtortal)を推定し、トラクタ及びトレーラを連結するカプラーが受ける荷重(Wfifth)を推定し、そしてトラクタの前軸及び後軸のサスペンションのロール剛性(KHf,KHr)を演算する。このようにして求めたトラクタ後部ロール角(RHr)と連結総重量(Wtortal)と荷重(Wfifth)と両サスペンションのロール剛性(KHf,KHr)と別途与えられるトレーラの所定のねじり剛性(KTtorsion)とに基づき、トレーラのロール角を推定して出力(ROUT)する。トラクタの横加速度(Gy)を加えてトレーラロール角を推定することもできる。
PCT/JP2008/057449 2007-06-08 2008-04-16 車両の横転防止装置 WO2008149607A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-153221 2007-06-08
JP2007153221A JP4169082B1 (ja) 2007-06-08 2007-06-08 車両の横転防止装置

Publications (1)

Publication Number Publication Date
WO2008149607A1 true WO2008149607A1 (ja) 2008-12-11

Family

ID=39985866

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/057449 WO2008149607A1 (ja) 2007-06-08 2008-04-16 車両の横転防止装置

Country Status (2)

Country Link
JP (1) JP4169082B1 (ja)
WO (1) WO2008149607A1 (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013051690A1 (ja) * 2011-10-07 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2013051659A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2013051660A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2013051657A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2013051663A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2015087623A1 (ja) * 2013-12-11 2015-06-18 トヨタ自動車株式会社 ロールオーバー判定装置
WO2017211341A1 (de) * 2016-06-09 2017-12-14 Schaeffler Technologies AG & Co. KG Verfahren zur bestimmung einer masse eines fahrzeugs
WO2021163765A1 (en) * 2020-02-20 2021-08-26 Mechanical System Dynamics Pty Ltd Automated compensator for fifth-wheel couplings
EP4198463A1 (en) * 2021-12-17 2023-06-21 Nfident Dwc Llc Method and system for measuring weight of cargo of an articulated vehicle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111703413B (zh) * 2019-03-18 2022-07-15 毫末智行科技有限公司 自动驾驶车辆的横向控制安全监测方法及系统
CN111731268B (zh) * 2020-06-01 2022-09-30 南京航空航天大学 一种考虑不同驾驶员特性的车辆防侧翻控制方法
CN113401114B (zh) * 2021-07-26 2022-03-25 吉林大学 一种半挂汽车横摆稳定性控制方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06144303A (ja) * 1992-11-13 1994-05-24 Mitsubishi Motors Corp トラクタの連結状態表示システム
JPH07125521A (ja) * 1993-10-29 1995-05-16 Mitsubishi Motors Corp トラクタ用アクティブサスペンションのロール制御装置
JPH10129539A (ja) * 1996-11-05 1998-05-19 Isuzu Motors Ltd トレーラローリング警報装置
JP2003019984A (ja) * 2001-07-06 2003-01-21 Nissan Diesel Motor Co Ltd トレーラの相対ロール角検出装置及び車両横転防止装置
JP2003040095A (ja) * 2001-07-31 2003-02-13 Hino Motors Ltd 連結車両の制動装置
JP2004276708A (ja) * 2003-03-14 2004-10-07 Isuzu Motors Ltd 相対姿勢角検出装置
JP2007038927A (ja) * 2005-08-04 2007-02-15 Isuzu Motors Ltd 車両の不安定状態検知装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06144303A (ja) * 1992-11-13 1994-05-24 Mitsubishi Motors Corp トラクタの連結状態表示システム
JPH07125521A (ja) * 1993-10-29 1995-05-16 Mitsubishi Motors Corp トラクタ用アクティブサスペンションのロール制御装置
JPH10129539A (ja) * 1996-11-05 1998-05-19 Isuzu Motors Ltd トレーラローリング警報装置
JP2003019984A (ja) * 2001-07-06 2003-01-21 Nissan Diesel Motor Co Ltd トレーラの相対ロール角検出装置及び車両横転防止装置
JP2003040095A (ja) * 2001-07-31 2003-02-13 Hino Motors Ltd 連結車両の制動装置
JP2004276708A (ja) * 2003-03-14 2004-10-07 Isuzu Motors Ltd 相対姿勢角検出装置
JP2007038927A (ja) * 2005-08-04 2007-02-15 Isuzu Motors Ltd 車両の不安定状態検知装置

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013082248A (ja) * 2011-10-06 2013-05-09 Isuzu Motors Ltd 車両のロール角推定方法及び装置
JP2013082246A (ja) * 2011-10-06 2013-05-09 Isuzu Motors Ltd 車両のロール角推定方法及び装置
WO2013051660A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2013051657A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
WO2013051663A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
JP2013082249A (ja) * 2011-10-06 2013-05-09 Isuzu Motors Ltd 車両のロール角推定方法及び装置
WO2013051659A1 (ja) * 2011-10-06 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
JP2013082247A (ja) * 2011-10-06 2013-05-09 Isuzu Motors Ltd 車両のロール角推定方法及び装置
WO2013051690A1 (ja) * 2011-10-07 2013-04-11 いすゞ自動車株式会社 車両のロール角推定方法及び装置
JP2013082296A (ja) * 2011-10-07 2013-05-09 Isuzu Motors Ltd 車両のロール角推定方法及び装置
WO2015087623A1 (ja) * 2013-12-11 2015-06-18 トヨタ自動車株式会社 ロールオーバー判定装置
JP2015113006A (ja) * 2013-12-11 2015-06-22 トヨタ自動車株式会社 ロールオーバー判定装置
WO2017211341A1 (de) * 2016-06-09 2017-12-14 Schaeffler Technologies AG & Co. KG Verfahren zur bestimmung einer masse eines fahrzeugs
WO2021163765A1 (en) * 2020-02-20 2021-08-26 Mechanical System Dynamics Pty Ltd Automated compensator for fifth-wheel couplings
EP4198463A1 (en) * 2021-12-17 2023-06-21 Nfident Dwc Llc Method and system for measuring weight of cargo of an articulated vehicle

Also Published As

Publication number Publication date
JP4169082B1 (ja) 2008-10-22
JP2008302865A (ja) 2008-12-18

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