WO2011004459A1 - 車両制御装置及び演算装置 - Google Patents
車両制御装置及び演算装置 Download PDFInfo
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- WO2011004459A1 WO2011004459A1 PCT/JP2009/062370 JP2009062370W WO2011004459A1 WO 2011004459 A1 WO2011004459 A1 WO 2011004459A1 JP 2009062370 W JP2009062370 W JP 2009062370W WO 2011004459 A1 WO2011004459 A1 WO 2011004459A1
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- vehicle
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- acceleration
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- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
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- 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
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- 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
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- 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
Definitions
- the present invention relates to a vehicle control device that controls a vehicle and a calculation device that calculates the height of the center of gravity of the vehicle and its correlation value.
- the vehicle roll angle, the lateral acceleration acting on the vehicle, and the vehicle weight are detected, and the center of gravity height of the vehicle is estimated based on the equation of motion at the time of rolling based on these detection information
- What is known is known (for example, Patent Document 1).
- the vehicle control device sets a vehicle roll determination threshold based on the estimated center-of-gravity height, determines a driving state such as a lateral acceleration during turning according to the determination threshold, and automatically outputs a control signal. Deceleration control can be performed.
- the present invention has been made to solve such a problem, and is a vehicle control device capable of sufficiently exerting the effects of vehicle control, and the center of gravity height or the correlation between the center of gravity height and the center of gravity with sufficient accuracy.
- An object of the present invention is to provide an arithmetic device capable of estimating a certain correlation value.
- a vehicle control device is a vehicle control device that outputs a vehicle control signal based on a center of gravity height based on a vehicle behavior in a roll state or a pitch state or a correlation value correlated with a center of gravity height, The control signal is calculated based on the vehicle acceleration reflecting the roll angle or the pitch angle.
- the roll angle or the pitch angle is determined when the vehicle is rolled or pitched. It is possible to perform vehicle control with high accuracy according to the above. Thereby, the effect of vehicle control can be sufficiently exhibited.
- the computing device is a computing device that computes the height of the center of gravity of the vehicle or a correlation value correlated with the height of the center of gravity, and based on the acceleration of the vehicle reflecting the roll angle or pitch angle. Or a correlation value is calculated.
- the center of gravity height or the correlation value can be calculated based on the acceleration of the vehicle reflecting the roll angle or the pitch angle.
- the center of gravity height and its correlation value can be calculated with sufficient accuracy according to the pitch angle.
- the effect of vehicle control can be sufficiently exerted, and the center of gravity height or the correlation value correlated with the center of gravity height can be estimated with sufficient accuracy.
- FIG. 1 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a control process in the vehicle control apparatus according to the embodiment of the present invention.
- FIG. 3 is a view of the vehicle as viewed from the side, and shows each acceleration and load acting on the vehicle.
- FIG. 4 is a view of the vehicle in the pitch state as viewed from the side, and shows each acceleration and load acting on the vehicle.
- FIG. 5 is a diagram used for limiting the range of the vehicle weight and the height of the center of gravity of the vehicle.
- FIG. 6 is a view of a turning vehicle as seen from the front, and shows each acceleration acting on the vehicle.
- FIG. 1 is a diagram showing a block configuration of a vehicle control device 1 according to an embodiment of the present invention.
- the vehicle control device 1 has a function of outputting a control signal to the vehicle based on the height of the center of gravity based on the behavior of the vehicle in the roll state or the pitch state and the vehicle weight (correlation value correlated with the height of the center of gravity).
- the vehicle control device 1 has a function of calculating a control signal based on the vehicle acceleration reflecting the roll angle or the pitch angle.
- the vehicle control device 1 includes an arithmetic device 2, an acceleration detector 3, a lateral acceleration detector 4, a front load detector 6, a rear load detector 7, a roll angle detector 8, and a pitch angle detector 9. Has been.
- the acceleration detector 3 has a function of detecting the longitudinal acceleration of the vehicle, and is constituted by, for example, an acceleration sensor used in ABS or VSC. Alternatively, the acceleration detection unit 3 may detect the longitudinal acceleration based on the wheel speed.
- the acceleration detection unit 3 has a function of outputting the detected longitudinal acceleration of the vehicle to the arithmetic device 2.
- the lateral acceleration detection unit 4 has a function of detecting the lateral acceleration of the vehicle, and is configured by a lateral acceleration sensor.
- the lateral acceleration detection unit 4 has a function of outputting the detected lateral acceleration to the arithmetic device 2.
- the front axle load detection unit 6 has a function of detecting a load F f acting on the front axle FS of the vehicle M1 (see FIGS. 3 and 4), and is configured by a pressure sensor or the like provided on the front axle FS. Has been.
- Rear shaft load detection section 7 (see FIGS. 3 and 4) load F r has a function of detecting that acts on shaft RS after the vehicle M1, and the like pressure sensor provided in the rear shaft RS Has been.
- the front axle load detection unit 6 and the rear axle load detection unit 7 have a function of outputting the detected load to the arithmetic device 2.
- the roll angle detector 8 has a function of detecting the roll angle of the vehicle M1, and is configured by a roll angle sensor.
- the roll angle detector 8 can be shared with the sensor of the curtain airbag.
- the roll angle detector 8 has a function of outputting the detected roll angle to the computing device 2.
- the pitch angle detection unit 9 has a function of detecting the pitch angle of the vehicle M1, and is configured by a pitch angle sensor.
- the pitch angle detection unit 9 has a function of outputting the detected pitch angle to the calculation device 2.
- the arithmetic device 2 is an electronic control unit such as an ECU (Electronic Control Unit) that controls the entire vehicle control device 1, and is composed mainly of a CPU, for example, and includes a ROM, a RAM, an input signal circuit, an output signal circuit, and a power circuit. Etc.
- the calculation device 2 has a function of calculating the height of the center of gravity and the vehicle weight of the vehicle based on the vehicle acceleration reflecting the roll angle or the pitch angle.
- the computing device 2 includes a computing unit 11, a range limiting unit 12, and a selection unit 13.
- the calculation unit 11 has a function of calculating a curve indicating the product of the vehicle weight and the center of gravity of the vehicle based on the behavior of the vehicle. Specifically, the calculation unit 11 calculates the product of the vehicle weight and the height of the center of gravity based on the balance of moments around the front and rear wheels of the vehicle when the vehicle is traveling on a flat road or slope. It has a function. Furthermore, when the vehicle is turning at a predetermined lateral acceleration, the calculation unit 11 has a function of calculating the product of the vehicle weight and the height of the center of gravity based on the balance of the moment due to the rolling moment and gravity.
- the calculating part 11 can correct
- the calculation unit 11 has a function of calculating a control signal value for vehicle control and outputting the control signal based on the vehicle weight value and the center-of-gravity height value selected by the selection unit 13. is doing.
- the vehicle control include roll suppression control for suppressing the roll of the vehicle based on the height of the center of gravity, and fuel efficiency prediction control for predicting the fuel efficiency based on the vehicle weight.
- the range limiting unit 12 shows the relationship between the vehicle weight and the center of gravity height, and superimposes a straight line determined in advance on the basis of the vehicle specifications on the curve calculated by the calculation unit 11 to thereby determine the vehicle weight and the center of gravity height. Has the function of limiting the range. Details of the method by which the range limiting unit 12 limits the range will be described later.
- the selection unit 13 has a function of selecting the value of the vehicle weight and the value of the height of the center of gravity from the range limited by the range limitation unit 12.
- the selection unit 13 selects a value larger than the middle value of the vehicle weight in the range limited by the range limitation unit 12 as the vehicle weight value, and the range limitation unit as the value of the center of gravity height.
- 12 has a function of selecting a value larger than an intermediate value of the height of the center of gravity in the range limited to 12.
- the selection unit 13 selects the vehicle weight value at the boundary position of the range limited by the range limiting unit 12 as the vehicle weight value, and is limited by the range limiting unit 12 as the value of the center of gravity height. It has a function of selecting the value of the center of gravity height at the boundary position of the range.
- FIG. 2 is a flowchart showing a control process in the vehicle control apparatus 1 according to the present embodiment.
- FIG. 3 is a view of the vehicle M1 as viewed from the side, and is a view showing each acceleration and load acting on the vehicle M1.
- FIG. 4 is a view of the vehicle M1 in the pitch state as viewed from the side, and is a view showing each acceleration and load acting on the vehicle M1.
- FIG. 5 is a diagram used to limit the range of the vehicle weight and the center of gravity height of the vehicle M1.
- FIG. 6 is a view of the turning vehicle M1 as viewed from the front, and is a view showing each acceleration acting on the vehicle M1.
- M represents the weight of the vehicle M1
- h represents the height of the center of gravity G of the vehicle M1 with respect to the ground
- L represents the wheel base of the vehicle M1
- L f represents the distance in the horizontal direction from the front axle FS of the vehicle M1 to the center of gravity G
- L r represents a distance in the horizontal direction from the axis RS after the vehicle M1 to the center of gravity G.
- F f represents a load acting on the front shaft FS
- F r represents a load acting on the rear shaft RS
- g x represents longitudinal acceleration
- g represents gravitational acceleration.
- the calculation unit 11 receives each value from the acceleration detection unit 3, the lateral acceleration detection unit 4, the front shaft load detection unit 6, the rear shaft load detection unit 7, the roll angle detection unit 8, and the pitch angle detection unit 9 (Ste S10).
- the longitudinal acceleration g x , the front axle load F f , the rear axle load F r , the lateral acceleration g y , the roll angle and the pitch angle are input, and the longitudinal acceleration g x ′ after a predetermined time has elapsed.
- the front shaft load F f ′, the rear shaft load F r ′, the lateral acceleration g y ′, the roll angle and the pitch angle are also sequentially input.
- the calculation unit 11 obtains an expression indicating the product (M ⁇ h) of the vehicle weight M and the center of gravity height h based on the expression of the moment balance around the front wheels (step S12).
- an expression in the situation shown in FIG. 4 in the pitch state is obtained.
- the calculation unit 11 obtains the formula (1) for balancing moments around the front wheels in the situation shown in FIG.
- the computing unit 11 obtains Expression (3) by subtracting Expression (2) from Expression (1).
- the arithmetic unit 11 obtains an equation (4) indicating a product (M ⁇ h) of the vehicle weight M and the height of the center of gravity h by modifying the equation (3).
- the calculation unit 11 reflects the influence of the pitch angle on each acceleration. That is, the calculation unit 11 reflects the vehicle longitudinal axis direction component of the gravitational acceleration g and the vehicle longitudinal axis direction component of the longitudinal acceleration g x in the measurement value that can be detected by the acceleration detection unit 3 at the time of pitch. Calculation is performed by correcting the longitudinal acceleration in accordance with the pitch angle.
- the measured value g sens of the acceleration detection unit 3 includes the vehicle longitudinal axis component g ⁇ sin ⁇ of the gravitational acceleration g and the vehicle longitudinal axis direction component g of the longitudinal acceleration g x.
- the arithmetic unit 11 obtains the equation (6) as an expression representing the longitudinal acceleration g x. Further, when the longitudinal acceleration is changed to g x ′ and the pitch angle is changed from ⁇ to ⁇ ′, the calculation unit 11 acquires Expression (7).
- the computing unit 11 obtains Expression (8) and Expression (9) by applying Expression (7) to the above Expression (3) and Expression (4). As a result, a curve C1 indicating the product of the vehicle weight M and the center of gravity height h is obtained as shown in FIG.
- g sens (g x ⁇ cos ⁇ + g ⁇ sin ⁇ ) (5)
- g x (g sens ⁇ g ⁇ sin ⁇ ) / cos ⁇ Equation (6)
- g x ⁇ g x ′ (g sens ′ ⁇ g ⁇ sin ⁇ ′) / cos ⁇ ′ ⁇ (g sens ⁇ g ⁇ sin ⁇ ) / cos ⁇ (7)
- (F r ⁇ F r ′) L M ⁇ h ⁇ (g sens ′ ⁇ g ⁇ sin ⁇ ′) / cos ⁇ ′ ⁇ (g sens ⁇ g ⁇ sin ⁇ ) / cos ⁇ (8)
- M ⁇ h (F r -F r ') L / ⁇ (g sens'-g ⁇ sin ⁇ ') / cos ⁇ '- (g sens -g ⁇ sin ⁇ ) / cos ⁇ ... (9)
- the range limiting unit 12 limits the range FD of the vehicle weight M and the center of gravity height h (step S14). Specifically, the range limiting unit 12 limits the range FD of the vehicle weight M and the center of gravity height h by overlapping the straight lines L1, L2 and the curve C1 on the graph shown in FIG. In the graph shown in FIG. 5, the horizontal axis indicates the vehicle weight M, and the vertical axis indicates the center of gravity height h.
- the straight lines L1 and L2 are predetermined based on the specifications of the vehicle M1, and are diagrams showing the relationship between the vehicle weight M and the center of gravity height h.
- the straight line L1 is preset by plotting the maximum center of gravity height assumed for a given vehicle weight M for each vehicle weight M.
- the straight line L2 is preset by plotting the minimum height of the center of gravity assumed for a given vehicle weight M for each vehicle weight M.
- the straight lines L1 and L2 both pass the coordinates (M min , h min ), and the inclination of the straight line L1 is set larger than the straight line L2.
- Range restriction section 12 a curve C1 acquired in S12, by superimposing a linear L1, L2, obtains a vehicle weight M 1 and the center of gravity height h 1 at the intersection P1 of the curves C1 and the straight line L1, the curve C1 acquires vehicle weight M 2 and the center of gravity height h 2 at the intersection P2 of the straight lines L2 and.
- the range limiting unit 12 sets the coordinate point P3 at the position of coordinates (M 1 , h 2 ) and sets the coordinate point P4 at the position of coordinates (M 2 , h 1 ).
- the range limiting unit 12 is a rectangle having P1 (M 1 , h 1 ), P2 (M 2 , h 2 ), P3 (M 1 , h 2 ), and P4 (M 2 , h 1 ) as vertices.
- the area surrounded is limited as a range FD of the vehicle weight M and the center of gravity height h.
- the selection unit 13 selects the value of the vehicle weight M and the value of the center of gravity height h from the range FD limited in S14 (step S16).
- the selection unit 13 selects an arbitrary vehicle weight value and a center-of-gravity height value from the range FD.
- the control unit 13 performs control for suppressing the roll of the vehicle or control for prediction of fuel consumption. Each value is selected so that it becomes a severe condition when performing. In the control of the roll suppression of the vehicle, the condition becomes severer as the height h of the center of gravity of the vehicle becomes larger. In the control for predicting the fuel consumption, the condition becomes severer as the vehicle weight M becomes larger.
- selector 13 as the vehicle weight M, select the M 2 is the value at the boundary position of the range FD, as the centroid height h, selects h 1 is the value at the boundary position of the range FD (i.e. P4 Select the value at).
- the selection unit 13 replaces (M 2 , h 1 ) which is a value at the boundary position with a value of the vehicle weight M that is an intermediate value of the vehicle weight in the range FD (M 1 + M 2 )
- a value greater than / 2 is selected, and a value greater than (h 1 + h 2 ) / 2, which is an intermediate value of the center of gravity height in the range FD, is selected as the value of the center of gravity height h.
- a coordinate point P5 indicated by coordinates ((M 1 + M 2 ) / 2, (h 1 + h 2 ) / 2)) is a center point of the range FD.
- the calculation unit 11 calculates a control signal value for vehicle control based on the vehicle weight value and the value of the center of gravity height selected in S16, and outputs the control signal.
- the control signal is output, the control process shown in FIG. 2 ends, and the process starts again from S10.
- FIGS. 2, 5 and 6 the control processing in the case of estimating the vehicle weight and the height of the center of gravity will be described in a case where the vehicle M1 is turning the lateral acceleration g y.
- the input process in S10, the range limiting process in S14, and the selection process in S16 are the same processes as the control process for balancing moments around the front wheels when M1 is traveling on a flat road. Therefore, only the calculation process of S12 will be described.
- M represents the vehicle weight of the vehicle M1
- hs represents the distance between the roll center RC and the center of gravity G of the vehicle M1
- ⁇ represents the roll angle
- gy represents the lateral acceleration
- g represents It shows gravitational acceleration.
- hs is “the height of the center of gravity”.
- the center of gravity height h is replaced with the center of gravity height hs.
- the calculating part 11 calculates
- the detected lateral acceleration g ysens is expressed by equation (11).
- the calculation unit 11 transforms the expression (10) to acquire the expression (12), and acquires the expression (13).
- a curve C2 indicating the product of the vehicle weight M and the center of gravity height hs is obtained.
- the calculation device 2 calculates the height of the center of gravity and the vehicle weight based on the acceleration of the vehicle reflecting the roll angle and the pitch angle.
- the control signal is calculated based on the weight.
- the vehicle control apparatus 1 can calculate a control signal based on the acceleration of the vehicle reflecting the roll angle or the pitch angle, the vehicle control apparatus 1 sets the roll angle or the pitch angle when the vehicle is rolled or pitched. Accordingly, it is possible to perform vehicle control with high accuracy. Thereby, the effect of vehicle control can be sufficiently exhibited.
- the calculation device 2 can calculate the height of the center of gravity or the vehicle weight that is the correlation value based on the acceleration of the vehicle reflecting the roll angle or the pitch angle. At the time of pitching, the height of the center of gravity and the vehicle weight can be calculated with sufficient accuracy according to the roll angle and pitch angle.
- the vehicle control device 1 includes the acceleration detection unit 3, the lateral acceleration detection unit 4, the front axis load detection unit 6, the rear axis load detection unit 7, the roll angle detection unit 8, and the pitch angle detection unit 9.
- the vehicle control device can perform both the vehicle control according to the roll angle and the vehicle control according to the pitch angle. It may be capable of performing only the corresponding vehicle control.
- the curves C1 and C2 are all described as the same curve, but may be different curves depending on the acceleration, load, lateral acceleration, roll angle, and pitch angle.
- the present invention can be used when performing vehicle control by estimating the vehicle weight and the height of the center of gravity.
- SYMBOLS 1 Vehicle control apparatus, 2 ... Arithmetic unit, M1 ... Vehicle, M ... Vehicle weight (correlation value correlated with height of center of gravity), h, hs ... Height of center of gravity.
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- Regulating Braking Force (AREA)
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Abstract
Description
Fr´・L=M・g・Lf+M・gx´・h …式(2)
(Fr―Fr´)L=M・h(gx-gx´) …式(3)
M・h=(Fr―Fr´)L/(gx-gx´) …式(4)
gx=(gsens-g・sinφ)/cosφ …式(6)
gx-gx´=(gsens´-g・sinφ´)/cosφ´-(gsens-g・sinφ)/cosφ …式(7)
(Fr―Fr´)L=M・h{(gsens´-g・sinφ´)/cosφ´-(gsens-g・sinφ)/cosφ} …式(8)
M・h=(Fr―Fr´)L/{(gsens´-g・sinφ´)/cosφ´-(gsens-g・sinφ)/cosφ} …式(9)
gysens=gy・cosφ+g・sinφ …式(11)
Kφ・φ=M・hs(gy・cosφ+g・sinφ) …式(12)
M・hs=Kφ・φ/gysens …式(13)
Claims (2)
- ロール状態又はピッチ状態における車両の挙動に基づく重心高さ又は前記重心高さと相関のある相関値に基づいて、前記車両の制御信号を出力する車両制御装置であって、
前記制御信号は、ロール角又はピッチ角を反映させた前記車両の加速度に基づいて演算されることを特徴とする車両制御装置。 - 車両の重心高さ又は前記重心高さと相関のある相関値を演算する演算装置であって、
前記車両のロール角又はピッチ角を反映させた前記車両の加速度に基づいて前記重心高さ又は前記相関値を演算することを特徴とする演算装置。
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JP2011521728A JP5146603B2 (ja) | 2009-07-07 | 2009-07-07 | 車両制御装置及び演算装置 |
CN2009801603431A CN102470874B (zh) | 2009-07-07 | 2009-07-07 | 车辆控制装置及运算装置 |
PCT/JP2009/062370 WO2011004459A1 (ja) | 2009-07-07 | 2009-07-07 | 車両制御装置及び演算装置 |
US13/382,718 US8483924B2 (en) | 2009-07-07 | 2009-07-07 | Vehicle control system, and operation device |
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PCT/JP2009/062370 WO2011004459A1 (ja) | 2009-07-07 | 2009-07-07 | 車両制御装置及び演算装置 |
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JP2016193728A (ja) * | 2011-07-11 | 2016-11-17 | ジャガー ランド ローバー リミテッドJaguar Land Rover Limited | 制御システム、車両、および車両の制御方法 |
JP2018083568A (ja) * | 2016-11-25 | 2018-05-31 | トヨタ自動車株式会社 | 自動傾斜車両 |
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JP5996572B2 (ja) * | 2014-03-27 | 2016-09-21 | 本田技研工業株式会社 | 車体のロール角推定装置 |
CN104590254B (zh) * | 2015-01-15 | 2017-05-17 | 盐城工学院 | 一种汽车转弯防侧翻方法及系统 |
US10011284B2 (en) * | 2016-07-13 | 2018-07-03 | Mitsubishi Electric Research Laboratories, Inc. | System and method for determining state of stiffness of tires of vehicle |
CN106679782A (zh) * | 2017-03-02 | 2017-05-17 | 南京理工大学 | 基于悬架压缩量的车辆重量测定方法与装置 |
CN108944909B (zh) * | 2017-05-26 | 2020-10-27 | 长城汽车股份有限公司 | 车辆控制方法和装置 |
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WO2022011499A1 (en) * | 2020-07-13 | 2022-01-20 | Gudsen Engineering, Inc. | Vehicle sensors arrangement and method for mapping road profiles |
CN113581061A (zh) * | 2021-07-26 | 2021-11-02 | 北京海纳川汽车部件股份有限公司 | 车辆灯光的照射高度调节方法、装置、车辆及存储介质 |
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2009
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- 2009-07-07 JP JP2011521728A patent/JP5146603B2/ja not_active Expired - Fee Related
- 2009-07-07 CN CN2009801603431A patent/CN102470874B/zh not_active Expired - Fee Related
- 2009-07-07 WO PCT/JP2009/062370 patent/WO2011004459A1/ja active Application Filing
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JP2000292316A (ja) * | 1999-04-12 | 2000-10-20 | Hino Motors Ltd | 車両の重心高さの推定演算装置 |
JP2004203084A (ja) * | 2002-12-24 | 2004-07-22 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JP2006076403A (ja) * | 2004-09-08 | 2006-03-23 | Toyota Motor Corp | 車両の重心高演算装置 |
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JP2016193728A (ja) * | 2011-07-11 | 2016-11-17 | ジャガー ランド ローバー リミテッドJaguar Land Rover Limited | 制御システム、車両、および車両の制御方法 |
JP2018083568A (ja) * | 2016-11-25 | 2018-05-31 | トヨタ自動車株式会社 | 自動傾斜車両 |
US10654332B2 (en) | 2016-11-25 | 2020-05-19 | Toyota Jidosha Kabushiki Kaisha | Automatic tilting vehicle |
Also Published As
Publication number | Publication date |
---|---|
CN102470874B (zh) | 2013-09-04 |
US20120109485A1 (en) | 2012-05-03 |
CN102470874A (zh) | 2012-05-23 |
JPWO2011004459A1 (ja) | 2012-12-13 |
JP5146603B2 (ja) | 2013-02-20 |
US8483924B2 (en) | 2013-07-09 |
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