WO2008152863A1 - 車両のロール角推定方法及び装置 - Google Patents

車両のロール角推定方法及び装置 Download PDF

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Publication number
WO2008152863A1
WO2008152863A1 PCT/JP2008/057853 JP2008057853W WO2008152863A1 WO 2008152863 A1 WO2008152863 A1 WO 2008152863A1 JP 2008057853 W JP2008057853 W JP 2008057853W WO 2008152863 A1 WO2008152863 A1 WO 2008152863A1
Authority
WO
WIPO (PCT)
Prior art keywords
level adjustment
suspensions
displacement characteristics
internal pressure
rolling angle
Prior art date
Application number
PCT/JP2008/057853
Other languages
English (en)
French (fr)
Inventor
Kenichi Furihata
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 WO2008152863A1 publication Critical patent/WO2008152863A1/ja

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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
    • B60W40/11—Pitch movement
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • 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
    • B60G17/01908—Acceleration or inclination sensors
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • 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
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • 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
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/63—Location of the center of gravity
    • 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
    • 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
    • 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
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9122—ARS - Anti-Roll System Control
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Vehicle Body Suspensions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

　車高調整前のロール角を推定することが可能な方法及び装置であって、荷重に対して同一の変位特性を有する左右サスペンションの各々が示す内圧値をパラメータとして予め求めた複数個の変位特性の内、自動車高調整後の両サスペンションの内圧値(PL及びPR)間の平均値(PLR)に対応する内圧値の変位特性を車高調整前の各サスペンションの変位特性として選択する。また、該車高調整後の各サスペンションの内圧値(PL及びPR)から各サスペンションに対する荷重(FL及びFR)を算出する。そして、該選択した変位特性と該算出した荷重(FL及びFR)から該車高調整前の各サスペンションの変位(ZL及びZR)を算出して該車高調整前のロール角(φE)を求める。
PCT/JP2008/057853 2007-06-12 2008-04-23 車両のロール角推定方法及び装置 WO2008152863A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007155489A JP4211861B2 (ja) 2007-06-12 2007-06-12 車両のロール角推定方法及び装置
JP2007-155489 2007-06-12

Publications (1)

Publication Number Publication Date
WO2008152863A1 true WO2008152863A1 (ja) 2008-12-18

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ID=40129476

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/057853 WO2008152863A1 (ja) 2007-06-12 2008-04-23 車両のロール角推定方法及び装置

Country Status (2)

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JP (1) JP4211861B2 (ja)
WO (1) WO2008152863A1 (ja)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009072231A1 (ja) * 2007-12-07 2009-06-11 Isuzu Motors Limited 車両のロール角推定方法及び装置
JP5472813B2 (ja) * 2010-05-18 2014-04-16 いすゞ自動車株式会社 車両のエアサスペンションのバネ特性の補正方法及び補正装置
JP5550544B2 (ja) * 2010-12-27 2014-07-16 日野自動車株式会社 横転警報装置、車両、および横転警報方法、並びにプログラム
JP5910914B2 (ja) * 2011-10-06 2016-04-27 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
JP5910915B2 (ja) * 2011-10-06 2016-04-27 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
JP5910916B2 (ja) * 2011-10-06 2016-04-27 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
JP5910917B2 (ja) * 2011-10-06 2016-04-27 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
JP5910918B2 (ja) * 2011-10-07 2016-04-27 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
JP6022830B2 (ja) * 2012-07-04 2016-11-09 日野自動車株式会社 重心位置推定装置、車両、および重心位置推定方法、並びにプログラム
JP6741402B2 (ja) * 2015-06-18 2020-08-19 日野自動車株式会社 情報提供装置、車両、および情報提供方法
US11192421B2 (en) * 2019-08-16 2021-12-07 Parker-Hannifin Corporation Method and device for detecting vehicle turning

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002211347A (ja) * 2001-01-15 2002-07-31 Calsonic Kansei Corp ロールオーバー判断装置
JP3921127B2 (ja) * 2002-05-08 2007-05-30 日産ディーゼル工業株式会社 車両のロールオーバ防止装置
JP2007230531A (ja) * 2006-02-02 2007-09-13 Isuzu Motors Ltd 車両の横転危険度判定装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002211347A (ja) * 2001-01-15 2002-07-31 Calsonic Kansei Corp ロールオーバー判断装置
JP3921127B2 (ja) * 2002-05-08 2007-05-30 日産ディーゼル工業株式会社 車両のロールオーバ防止装置
JP2007230531A (ja) * 2006-02-02 2007-09-13 Isuzu Motors Ltd 車両の横転危険度判定装置

Also Published As

Publication number Publication date
JP4211861B2 (ja) 2009-01-21
JP2008307942A (ja) 2008-12-25

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