WO2012045556A1 - Method for ascertaining an inclination of a vehicle in the direction of travel - Google Patents

Method for ascertaining an inclination of a vehicle in the direction of travel Download PDF

Info

Publication number
WO2012045556A1
WO2012045556A1 PCT/EP2011/065923 EP2011065923W WO2012045556A1 WO 2012045556 A1 WO2012045556 A1 WO 2012045556A1 EP 2011065923 W EP2011065923 W EP 2011065923W WO 2012045556 A1 WO2012045556 A1 WO 2012045556A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
inclination
acceleration
determined
acceleration sensor
Prior art date
Application number
PCT/EP2011/065923
Other languages
German (de)
French (fr)
Inventor
Maik WÜRTHNER
Joachim Staudinger
Johannes Kemler
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2012045556A1 publication Critical patent/WO2012045556A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/08—Means for compensating acceleration forces due to movement of instrument
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/104—Output speed
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/16—Pitch
    • 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
    • B60W2520/28—Wheel speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

Definitions

  • the present invention relates to a method for determining an inclination of a vehicle according to the closer defined in the preamble of claim 1.
  • inclination sensors are also used to determine the inclination of the vehicle in the direction of travel. This can be determined directly whether the vehicle is on a slope, on a slope or in a plane, and thus the transmission functionality are adjusted accordingly.
  • EP 1 337 861 B1 discloses a method and a device arrangement for processing analog output signals from sensors. Several gyrometer sensors are provided in different angular positions to determine the motion and speed of an object.
  • the present invention is based on the object to provide a method for determining the inclination of the vehicle, in which the inclination can be determined without an additional costly inclination sensor.
  • a method for determining an inclination of a vehicle in the direction of travel or longitudinal direction in which the inclination of the vehicle ges from the output signals with an already existing rate of rotation acceleration sensor is determined.
  • the slope or the slope can be determined without additional inclination sensor, which drives the vehicle to cost-effectively optimize the transmission functionality with these information.
  • An otherwise required additional tilt sensor is no longer necessary in the proposed method in an advantageous manner.
  • the determined and measured acceleration can be compensated accordingly.
  • the vehicle acceleration may preferably be calculated or determined from the variables of the wheel speed or the output rotational speed already known to the transmission control.
  • an occurring lateral acceleration of the vehicle is taken into account in determining the inclination of the vehicle under certain circumstances. For example, when the vehicle is making a turn, centripetal acceleration acts on the vehicle. If the acceleration sensor used is not arranged in or on the axis of rotation of the vehicle, this lateral acceleration also acts on the acceleration sensor and thus falsifies the slope or slope calculation. Therefore, an occurring lateral acceleration of the vehicle is determined and used in the determination taken into account when the acceleration sensor for detecting the longitudinal acceleration is arranged outside the axis of rotation.
  • the consideration of the lateral acceleration in the determination of the inclination is carried out as a function of the distance between the installation location of the acceleration sensor and the axis of rotation of the vehicle in order to optimally compensate the influence of the lateral acceleration on the longitudinal acceleration sensor when cornering ,
  • the ascending centripetal acceleration is determined at a measuring axis transversely to the direction of travel in order to determine the transverse acceleration.
  • the rotation rate acceleration sensor already having two measuring axes.
  • the curve radius r can be determined from the known steering angle or from the difference between the wheel speeds of the wheels of an axle of the vehicle.
  • any pitching movements that may occur during the operation of the vehicle are taken into account in the determination of the gradient or inclination. If the vehicle is accelerated or decelerated, for example, the vehicle executes so-called pitching movements due to the chassis and the tires, which then falsify the inclination determination, since the position of the acceleration sensor no longer corresponds to the roadway inclination.
  • pitching movements can be detected via the evaluation of the existing rotation rate sensor, which vehicle movements are detected around the transverse axis, and taken into account in the tilt determination.
  • FIG. 1 schematically shows a vehicle 1 with an existing combined yaw rate and acceleration sensor 2 for measurement the longitudinal acceleration along the example indicated direction of travel 3 and for measuring pitching movements of the vehicle 1, which are indicated by corresponding arrows 5.
  • the yaw rate and acceleration sensor 2 is arranged in the rotational axis of the vehicle, the calculation of a lateral acceleration is not required, because a correction of the tilt calculation due to occurring lateral acceleration is not required.
  • the acceleration sensor 2 can also be used to measure the transverse acceleration of the vehicle occurring transversely to the direction of travel in order to carry out a corresponding correction in the tilt calculation. Due to the orientation of the measuring axis 4 exactly transverse to the direction of travel 3, the centripetal acceleration can be measured during cornering.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Proposed is a method for ascertaining an inclination of a vehicle (1) in the direction of travel (3), wherein the inclination of the vehicle (1) is determined from the output signals of a rotational velocity and acceleration sensor (2) which is present.

Description

Verfahren zum Ermitteln einer Neigung eines Fahrzeuges in Fahrtrichtung  Method for determining a slope of a vehicle in the direction of travel
Die vorliegende Erfindung betrifft ein Verfahren zum Ermitteln einer Neigung eines Fahrzeuges gemäß der im Oberbegriff des Patentanspruches 1 näher definierten Art. The present invention relates to a method for determining an inclination of a vehicle according to the closer defined in the preamble of claim 1. Art.
Aus der Fahrzeugtechnik ist es bekannt, dass bei automatisierten Fahrzeuggetrieben Sensoren zur Ermittlung des Fahrzustandes eingesetzt werden. Beispielsweise werden zusätzlich Neigungssensoren zur Ermittlung der Neigung des Fahrzeuges in Fahrtrichtung verwendet. Dadurch kann direkt ermittelt werden, ob sich das Fahrzeug an einer Steigung, an einem Gefälle oder in einer Ebene befindet, und somit die Getriebefunktionalität entsprechend darauf angepasst werden. From vehicle technology, it is known that in automated vehicle transmissions sensors are used to determine the driving condition. For example, inclination sensors are also used to determine the inclination of the vehicle in the direction of travel. This can be determined directly whether the vehicle is on a slope, on a slope or in a plane, and thus the transmission functionality are adjusted accordingly.
Ferner ist es bekannt, dass kostengünstige kombinierte Drehraten- Beschleunigungssensoren bei Fahrzeugen im Rahmen von Fahrdynamikregelsyste- men zum Ermitteln der Gierrate und der Querbeschleunigung eingesetzt werden. Furthermore, it is known that cost-effective combined rate-of-turn acceleration sensors are used in vehicles in the context of vehicle dynamics control systems for determining the yaw rate and the lateral acceleration.
Beispielsweise aus der Druckschrift EP 1 337 861 B1 ist ein Verfahren und eine Vorrichtungsanordnung zum Verarbeiten von analogen Ausgangssignalen von Sensoren bekannt. Es werden mehrere Drehratensensoren in verschiedenen Winkelstellungen vorgesehen, um somit die Bewegung und die Geschwindigkeit eines Objekts zu ermitteln. For example, EP 1 337 861 B1 discloses a method and a device arrangement for processing analog output signals from sensors. Several gyrometer sensors are provided in different angular positions to determine the motion and speed of an object.
Der vorliegenden Erfindung liegt die Aufgabe zu Grunde, ein Verfahren zum Ermitteln der Neigung des Fahrzeuges anzugeben, bei dem die Neigung ohne einen zusätzlichen kostenintensiven Neigungssensor ermittelt werden kann. The present invention is based on the object to provide a method for determining the inclination of the vehicle, in which the inclination can be determined without an additional costly inclination sensor.
Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Patentanspruches 1 gelöst, wobei sich weitere vorteilhafte Ausgestaltungen aus den Unteransprüchen und der Zeichnung ergeben. This object is achieved by the features of claim 1, resulting in further advantageous embodiments of the dependent claims and the drawing.
Somit wird ein Verfahren zum Ermitteln einer Neigung eines Fahrzeuges in Fahrtrichtung bzw. Längsrichtung vorgeschlagen, bei dem die Neigung des Fahrzeu- ges aus den Ausgangssignalen mit einem bereits vorhandenen Drehraten- Beschleunigungssensor bestimmt wird. Durch die erfindungsgemäßgemäße Auswertung der gegebenen Ausgangssignale des Beschleunigungssensors, der z. B. im Rahmen von Fahrdynamikregelsystemen in jedem Fahrzeug bereits vorhanden ist, lässt sich die Steigung bzw. das Gefälle ohne zusätzlichen Neigungssensor bestimmen, welche das Fahrzeug befährt, um mit diesen Angaben kostengünstig die Getriebefunktionalität weiter zu optimieren. Ein sonst erforderlicher zusätzlicher Neigungssensors ist bei dem vorgeschlagenen Verfahren in vorteilhafter Weise nicht mehr notwendig. Thus, a method for determining an inclination of a vehicle in the direction of travel or longitudinal direction is proposed, in which the inclination of the vehicle ges from the output signals with an already existing rate of rotation acceleration sensor is determined. By the invention according to the evaluation of the given output signals of the acceleration sensor, the z. B. in the context of vehicle dynamics control systems in each vehicle already exists, the slope or the slope can be determined without additional inclination sensor, which drives the vehicle to cost-effectively optimize the transmission functionality with these information. An otherwise required additional tilt sensor is no longer necessary in the proposed method in an advantageous manner.
Beispielsweise kann durch die erfasste Längsbeschleunigung des Fahrzeuges auch die Neigung des Fahrzeuges ermittelt werden, da bei Steigungen und Gefällen auch die Erdbeschleunigung auf den Beschleunigungssensor wirkt. Hierbei ist jedoch zu beachten, dass Beschleunigungen aufgrund einer Änderung der Fahrzeuggeschwindigkeit die Steigungs- beziehungsweise Neigungsberechnung verfälschen können, so dass daher die ermittelte und gemessene Beschleunigung entsprechend kompensiert werden müssen. For example, can be determined by the detected longitudinal acceleration of the vehicle and the inclination of the vehicle, as with inclines and slopes and the acceleration of gravity acts on the acceleration sensor. It should be noted, however, that accelerations due to a change in the vehicle speed can distort the slope or inclination calculation, so that therefore the determined and measured acceleration must be compensated accordingly.
Vorzugsweise kann die Fahrzeugbeschleunigung aufgrund einer Änderung der Fahrzeuggeschwindigkeit aus den der Getriebesteuerung bereits bekannten Größen der Raddrehzahl oder der Abtriebsdrehzahl berechnet beziehungsweise bestimmt werden. Due to a change in the vehicle speed, the vehicle acceleration may preferably be calculated or determined from the variables of the wheel speed or the output rotational speed already known to the transmission control.
Darüber hinaus ist bei der erfindungsgemäßen Auswertung der Sensorsignale vorgesehen, dass eine auftretende Querbeschleunigung des Fahrzeuges bei der Ermittlung der Neigung des Fahrzeuges unter bestimmten Umständen berücksichtigt wird. Wenn nämlich das Fahrzeug zum Beispiel eine Kurve durchfährt, wirkt eine Zentripetalbeschleunigung auf das Fahrzeug. Sofern der verwendete Beschleunigungssensor nicht in beziehungsweise an der Drehachse des Fahrzeuges angeordnet ist, wirkt diese Querbeschleunigung auch auf den Beschleunigungssensor und verfälscht damit die Neigung- beziehungsweise Steigungsberechnung. Deshalb wird eine auftretende Querbeschleunigung des Fahrzeuges ermittelt und bei der Bestim- mung der Neigung berücksichtigt, wenn der Beschleunigungssensor zum Erfassen der Längsbeschleunigung außerhalb der Drehachse angeordnet ist. In addition, it is provided in the evaluation of the sensor signals according to the invention that an occurring lateral acceleration of the vehicle is taken into account in determining the inclination of the vehicle under certain circumstances. For example, when the vehicle is making a turn, centripetal acceleration acts on the vehicle. If the acceleration sensor used is not arranged in or on the axis of rotation of the vehicle, this lateral acceleration also acts on the acceleration sensor and thus falsifies the slope or slope calculation. Therefore, an occurring lateral acceleration of the vehicle is determined and used in the determination taken into account when the acceleration sensor for detecting the longitudinal acceleration is arranged outside the axis of rotation.
In besonders vorteilhafter Weise wird bei dem Verfahren die Berücksichtigung der Querbeschleunigung bei der Bestimmung der Neigung in Abhängigkeit des Ab- standes zwischen dem Einbauort des Beschleunigungssensor und der Drehachse des Fahrzeuges durchgeführt wird, um den Einfluss der Querbeschleunigung auf den Längsbeschleunigungssensor bei einer Kurvenfahrt optimal zu kompensieren. In a particularly advantageous manner, in the method the consideration of the lateral acceleration in the determination of the inclination is carried out as a function of the distance between the installation location of the acceleration sensor and the axis of rotation of the vehicle in order to optimally compensate the influence of the lateral acceleration on the longitudinal acceleration sensor when cornering ,
Gemäß einer nächsten Weiterbildung der Erfindung kann vorgesehen sein, dass zur Bestimmung der Querbeschleunigung die auftretende Zentripetalbeschleunigung an einer Messachse quer zur Fahrtrichtung ermittelt wird. Dies ist mit dem bereits vorhandenen zwei Messachsen aufweisenden Drehraten-Beschleunigungssensor auf einfachste Weise möglich. Es ist jedoch auch möglich, dass die Querbeschleunigung aus der bekannten Fahrzeuggeschwindigkeit und dem Kurvenradius gemäß der Formel ar =r * w2 berechnet wird. Dabei kann der Kurvenradius r aus dem bekannten Lenkwinkel oder aus der Differenz der Raddrehzahlen der Räder einer Achse des Fahrzeuges bestimmt werden. According to a next development of the invention, provision can be made for the ascending centripetal acceleration to be determined at a measuring axis transversely to the direction of travel in order to determine the transverse acceleration. This is possible in the simplest way with the rotation rate acceleration sensor already having two measuring axes. However, it is also possible that the lateral acceleration is calculated from the known vehicle speed and the curve radius according to the formula a r = r * w 2 . In this case, the curve radius r can be determined from the known steering angle or from the difference between the wheel speeds of the wheels of an axle of the vehicle.
Im Rahmen einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens werden bei der Steigungs- beziehungsweise Neigungsbestimmung auch eventuell im Betrieb des Fahrzeuges auftretende Nickbewegungen berücksichtigt. Wird das Fahrzeug zum Beispiel beschleunigt oder abgebremst, führt das Fahrzeug aufgrund des Fahrwerkes sowie der Reifen so genannte Nickbewegungen aus, die dann die Neigungsbestimmung verfälschen, da die Lage des Beschleunigungssensors nicht mehr der Fahrbahnneigung entspricht. Erfindungsgemäß können über die Auswertung des vorhandenen Drehratensensors, welcher Fahrzeugbewegungen um die Querachse erfasst, Nickbewegungen erkannt werden und bei der Neigungsermittlung berücksichtigt werden. Within the scope of a further embodiment of the method according to the invention, any pitching movements that may occur during the operation of the vehicle are taken into account in the determination of the gradient or inclination. If the vehicle is accelerated or decelerated, for example, the vehicle executes so-called pitching movements due to the chassis and the tires, which then falsify the inclination determination, since the position of the acceleration sensor no longer corresponds to the roadway inclination. According to the invention, pitching movements can be detected via the evaluation of the existing rotation rate sensor, which vehicle movements are detected around the transverse axis, and taken into account in the tilt determination.
Im Folgenden wird die vorliegende Erfindung anhand der Zeichnung weiter erläutert. Die einzige Figur der Erfindung zeigt schematisch ein Fahrzeug 1 mit einem vorhandenen kombinierten Drehraten- und Beschleunigungssensor 2 zur Messung der Längsbeschleunigung entlang der beispielhaft angedeuteten Fahrtrichtung 3 und zur Messung von Nickbewegungen des Fahrzeuges 1 , welche durch entsprechende Pfeile 5 angedeutet sind. Wenn der Drehraten- und Beschleunigungssensor 2 in der Drehachse des Fahrzeuges angeordnet ist, ist die Berechnung einer Querbeschleunigung nicht erforderlich, da eine Korrektur der Neigungsberechnung aufgrund von auftretenden Querbeschleunigung nicht erforderlich ist. In the following, the present invention will be further explained with reference to the drawing. The sole FIGURE of the invention schematically shows a vehicle 1 with an existing combined yaw rate and acceleration sensor 2 for measurement the longitudinal acceleration along the example indicated direction of travel 3 and for measuring pitching movements of the vehicle 1, which are indicated by corresponding arrows 5. When the yaw rate and acceleration sensor 2 is arranged in the rotational axis of the vehicle, the calculation of a lateral acceleration is not required, because a correction of the tilt calculation due to occurring lateral acceleration is not required.
Wenn jedoch der Drehraten- und Beschleunigungssensor 2 nicht in der Drehachse des Fahrzeuges angeordnet ist, kann optional der Beschleunigungssensor 2 auch zur Messung der quer zur Fahrtrichtung auftretenden Querbeschleunigung des Fahrzeuges eingesetzt werden, um eine entsprechende Korrektur bei der Neigungsberechnung durchzuführen. Durch die Ausrichtung der Messachse 4 genau quer zur Fahrtrichtung 3 kann die Zentripetalbeschleunigung während einer Kurvenfahrt gemessen werden. However, if the yaw rate and acceleration sensor 2 is not arranged in the axis of rotation of the vehicle, optionally the acceleration sensor 2 can also be used to measure the transverse acceleration of the vehicle occurring transversely to the direction of travel in order to carry out a corresponding correction in the tilt calculation. Due to the orientation of the measuring axis 4 exactly transverse to the direction of travel 3, the centripetal acceleration can be measured during cornering.
Bezuqszeichen Fahrzeug License plate vehicle
kombinierter Drehraten-Beschleunigungssensor Fahrtrichtung combined rate-of-turn acceleration sensor direction of travel
Messachse quer zur Fahrtrichtung Measuring axis transverse to the direction of travel
Pfeile für Nickbewegungen Arrows for pitching movements

Claims

Patentansprüche claims
1 . Verfahren zum Ermitteln einer Neigung eines Fahrzeuges (1 ) in Fahrtrichtung (3), dadurch gekennzeichnet, dass die Neigung des Fahrzeuges (1 ) aus den Ausgangssignalen eines vorhandenen Drehraten- und Beschleunigungssensors (2) bestimmt wird. 1 . Method for determining an inclination of a vehicle (1) in the direction of travel (3), characterized in that the inclination of the vehicle (1) from the output signals of an existing rotation rate and acceleration sensor (2) is determined.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass aus der erfass- ten Längsbeschleunigung des Fahrzeuges (1 ) die Neigung berechnet wird, wobei eine Änderung der Fahrzeuggeschwindigkeit kompensiert wird. 2. The method according to claim 1, characterized in that from the detected longitudinal acceleration of the vehicle (1), the inclination is calculated, wherein a change in the vehicle speed is compensated.
3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Änderung der Fahrzeuggeschwindigkeit aus der Raddrehzahl oder der Abtriebsdrehzahl bestimmt wird. 3. The method according to claim 2, characterized in that the change in the vehicle speed from the wheel speed or the output speed is determined.
4. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass eine auftretende Querbeschleunigung des Fahrzeuges (1 ) aufgrund einer wirkenden Zentripetalbeschleunigung ermittelt und bei der Bestimmung der Neigung kompensiert wird, wenn der Beschleunigungssensor (2) außerhalb der Drehachse des Fahrzeuges (1 ) angeordnet ist. 4. The method according to any one of the preceding claims, characterized in that an occurring lateral acceleration of the vehicle (1) is determined due to an acting Zentripetalbeschleunigung and compensated in the determination of the inclination, when the acceleration sensor (2) outside the axis of rotation of the vehicle (1) is.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die Berücksichtigung der Querbeschleunigung des Fahrzeuges (1 ) bei der Bestimmung der Neigung in Abhängigkeit des Abstandes zwischen dem Einbauort des vorhandenen Beschleunigungssensors (2) und der Drehachse des Fahrzeuges durchgeführt wird. 5. The method according to claim 4, characterized in that the consideration of the transverse acceleration of the vehicle (1) in the determination of the inclination as a function of the distance between the installation location of the existing acceleration sensor (2) and the axis of rotation of the vehicle is performed.
6. Verfahren nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass die Querbeschleunigung des Fahrzeuges (1 ) durch die Erfassung der Zentripetalbeschleunigung an einer Messachse (4) quer zur Fahrtrichtung (3) ermittelt wird. 6. The method according to claim 4 or 5, characterized in that the transverse acceleration of the vehicle (1) by detecting the Zentripetalbeschleunigung on a measuring axis (4) transverse to the direction of travel (3) is determined.
7. Verfahren nach einem der Ansprüche 4 bis 6, dadurch gekennzeichnet, dass die Querbeschleunigung aus der Fahrzeuggeschwindigkeit und dem Kurvenra- dius ermittelt wird, wobei der Kurvenradius aus dem Lenkwinkels oder aus der Differenz der Raddrehzahlen der Räder einer Achse des Fahrzeuges (1 ) bestimmt wird. 7. The method according to any one of claims 4 to 6, characterized in that the lateral acceleration of the vehicle speed and the Kurvenra- is determined, wherein the radius of curvature from the steering angle or from the difference of the wheel speeds of the wheels of an axle of the vehicle (1) is determined.
8. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass auftretende Nickbewegungen des Fahrzeuges (1 ) mit dem vorhandenen Drehraten-Beschleunigungssensor (2) ermittelt werden und bei der Bestimmung der Neigung kompensiert werden. 8. The method according to any one of the preceding claims, characterized in that occurring pitching movements of the vehicle (1) with the existing angular rate acceleration sensor (2) are determined and compensated in the determination of the inclination.
PCT/EP2011/065923 2010-10-05 2011-09-14 Method for ascertaining an inclination of a vehicle in the direction of travel WO2012045556A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010041967.2 2010-10-05
DE102010041967A DE102010041967A1 (en) 2010-10-05 2010-10-05 Method for determining a slope of a vehicle in the direction of travel

Publications (1)

Publication Number Publication Date
WO2012045556A1 true WO2012045556A1 (en) 2012-04-12

Family

ID=44651789

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/065923 WO2012045556A1 (en) 2010-10-05 2011-09-14 Method for ascertaining an inclination of a vehicle in the direction of travel

Country Status (2)

Country Link
DE (1) DE102010041967A1 (en)
WO (1) WO2012045556A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017129199A1 (en) 2016-01-26 2017-08-03 Pascal Munnix Method for determining a tilting state of a vehicle, and computer program

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013213291A1 (en) * 2013-07-08 2015-01-08 Zf Friedrichshafen Ag Method for improving the slope calculation of motor vehicles when cornering
DE102013222869A1 (en) * 2013-11-11 2015-05-13 Zf Friedrichshafen Ag Control device of a vehicle
DE102017211376A1 (en) 2017-07-04 2019-01-10 Zf Friedrichshafen Ag Method and control device for determining an inclination of a vehicle in the direction of travel
JP7077708B2 (en) 2018-03-28 2022-05-31 いすゞ自動車株式会社 Gradient estimation device and vehicle
CN111824165B (en) * 2019-10-23 2021-11-19 长城汽车股份有限公司 Gradient calculation method and device

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531300A (en) * 1984-05-07 1985-07-30 Sperry Corporation Electronic inclination gauge with acceleration compensation
JPS60220814A (en) * 1984-04-18 1985-11-05 Jeco Co Ltd Centrifugal force blind type inclinometer
JPS63117211A (en) * 1986-11-05 1988-05-21 Tokyo Keiki Co Ltd Clinometer
JPH04145323A (en) * 1990-10-08 1992-05-19 Japan Electron Control Syst Co Ltd Road surface gradient detecting device for vehicle
JPH0674320A (en) * 1992-08-27 1994-03-15 Hitachi Ltd Vehicle inclination detecting device and automobile using the same
JP2001356014A (en) * 2000-06-13 2001-12-26 Mitsubishi Motors Corp Road surface gradient detector
EP1626248A1 (en) * 2004-08-09 2006-02-15 Bomag Gmbh Device and method for determining an acceleration independent inclination angle
US20070162251A1 (en) * 2006-01-09 2007-07-12 Stephen Todd Device for measuring incline under acceleration
DE102008027087A1 (en) * 2007-06-22 2008-12-24 Volkswagen Ag Method for determining a tilt angle of a vehicle
EP1337861B1 (en) 2000-12-01 2009-09-23 Hahn-Schickard-Gesellschaft Für Angewandte Forschung E.V. Method and device for processing analogue output signals from capacitive sensors
DE102008040684A1 (en) * 2008-07-24 2010-01-28 Robert Bosch Gmbh Method for determining the inclination of a body of a motor vehicle and device for determining inclination

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10216690B4 (en) * 2002-04-16 2006-07-13 Daimlerchrysler Ag Method for displaying a longitudinal acceleration acting on a driver in a driving simulation
US7031816B2 (en) * 2004-03-23 2006-04-18 Continental Teves, Inc. Active rollover protection
DE102005033237B4 (en) * 2005-07-15 2007-09-20 Siemens Ag Method for determining and correcting misalignments and offsets of the sensors of an inertial measurement unit in a land vehicle
DE102007047337A1 (en) * 2007-10-04 2008-05-08 Vdo Automotive Ag Method for processing of sensor signals of motor vehicle, involves detecting sensor signal representing transversal acceleration, longitudinal speed, yaw rate or steering angle of vehicle and detected signals are fed to processing unit

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60220814A (en) * 1984-04-18 1985-11-05 Jeco Co Ltd Centrifugal force blind type inclinometer
US4531300A (en) * 1984-05-07 1985-07-30 Sperry Corporation Electronic inclination gauge with acceleration compensation
JPS63117211A (en) * 1986-11-05 1988-05-21 Tokyo Keiki Co Ltd Clinometer
JPH04145323A (en) * 1990-10-08 1992-05-19 Japan Electron Control Syst Co Ltd Road surface gradient detecting device for vehicle
JPH0674320A (en) * 1992-08-27 1994-03-15 Hitachi Ltd Vehicle inclination detecting device and automobile using the same
JP2001356014A (en) * 2000-06-13 2001-12-26 Mitsubishi Motors Corp Road surface gradient detector
EP1337861B1 (en) 2000-12-01 2009-09-23 Hahn-Schickard-Gesellschaft Für Angewandte Forschung E.V. Method and device for processing analogue output signals from capacitive sensors
EP1626248A1 (en) * 2004-08-09 2006-02-15 Bomag Gmbh Device and method for determining an acceleration independent inclination angle
US20070162251A1 (en) * 2006-01-09 2007-07-12 Stephen Todd Device for measuring incline under acceleration
DE102008027087A1 (en) * 2007-06-22 2008-12-24 Volkswagen Ag Method for determining a tilt angle of a vehicle
DE102008040684A1 (en) * 2008-07-24 2010-01-28 Robert Bosch Gmbh Method for determining the inclination of a body of a motor vehicle and device for determining inclination

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017129199A1 (en) 2016-01-26 2017-08-03 Pascal Munnix Method for determining a tilting state of a vehicle, and computer program

Also Published As

Publication number Publication date
DE102010041967A1 (en) 2012-04-05

Similar Documents

Publication Publication Date Title
EP2111557B1 (en) Method and device for determining the speed of a vehicle
EP1692026B1 (en) Method and arrangement for monitoring a measuring device located in a wheeled vehicle
DE10327593B4 (en) System and method for determining the position of a motor vehicle
EP2795345B1 (en) Method and device for determining the installation position of a sensor module in a vehicle, and vehicle having such a device
DE102007047399B4 (en) Method for detecting a loading state of a motor vehicle
DE60120628T2 (en) loading estimator
WO2012045556A1 (en) Method for ascertaining an inclination of a vehicle in the direction of travel
WO2006128758A1 (en) Determination of the actual yaw angle and the actual slip angle of a land vehicle
DE102013219662B3 (en) Method, control unit and system for determining a tread depth of a profile of at least one tire
DE102005060173A1 (en) Sensor system for detecting movement in a motor vehicle's structure has a vertical acceleration sensor and two angular acceleration sensors
DE102009013895B4 (en) Vehicle with a device for controlling the driving dynamics with steering angle sensor integrated in a common unit, yaw rate sensor and acceleration sensor
DE102007047337A1 (en) Method for processing of sensor signals of motor vehicle, involves detecting sensor signal representing transversal acceleration, longitudinal speed, yaw rate or steering angle of vehicle and detected signals are fed to processing unit
DE19705635B4 (en) Device for triggering a control and / or warning process in a motor vehicle
DE10354944B4 (en) Method and arrangement for determining a driving speed
DE102010006178B4 (en) Method for monitoring a tire pressure and tire pressure monitoring device
DE102010055378A1 (en) Gear parameter e.g. camber, determining device for motor car, has acceleration sensor arranged at wheel of motor car, and rotation speed sensor determining wheel base, where acceleration sensor determines centrifugal acceleration
DE102015224389A1 (en) Assistance system with load condition compensation
DE102010062549B4 (en) Method for determining the mass of a motor vehicle
DE102018217992A1 (en) Method for operating an actuator of an active chassis device and active chassis device
DE102010048260B4 (en) Automatic determination of a compression travel of a wheel of a vehicle
EP2057049B1 (en) Road vehicle, in particular passenger vehicle or truck
DE102008054648A1 (en) Method for determining a direction information for a vehicle and sensor device for a vehicle
DE102015220067B3 (en) Method for determining a mounting position of a gyroscope in a motor vehicle
DE19802498B4 (en) Method and device for tire pressure monitoring
EP3482971A1 (en) Agricultural vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11757307

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 11757307

Country of ref document: EP

Kind code of ref document: A1