WO2016020834A1 - A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor - Google Patents

A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor Download PDF

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Publication number
WO2016020834A1
WO2016020834A1 PCT/IB2015/055895 IB2015055895W WO2016020834A1 WO 2016020834 A1 WO2016020834 A1 WO 2016020834A1 IB 2015055895 W IB2015055895 W IB 2015055895W WO 2016020834 A1 WO2016020834 A1 WO 2016020834A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
estimate
variable
variables
measured
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/IB2015/055895
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English (en)
French (fr)
Inventor
Mario Milanese
Carlo Novara
Ilario Gerlero
Mario BONANSONE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Modelway SRL
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Modelway SRL
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 Modelway SRL filed Critical Modelway SRL
Priority to US15/501,664 priority Critical patent/US10597039B2/en
Priority to CN201580053535.8A priority patent/CN107000755B/zh
Priority to EP15798551.6A priority patent/EP3177499B1/en
Priority to JP2017526773A priority patent/JP6573978B2/ja
Publication of WO2016020834A1 publication Critical patent/WO2016020834A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B60W40/103—Side slip angle of vehicle body
    • 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
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • 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
    • 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
    • B60W2520/28—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
    • 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
    • B60W40/068—Road friction coefficient
    • 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 description relates to techniques for designing virtual sensors of at least a variable affecting the vehicle dynamics, able to give in real time reliable estimates of the variables of interest using data measured from Electronic Stability Control systems or other devices typically available in production cars and heavy vehicles.
  • An object of one or more embodiments is to overcome the limitations inherent in the solutions achievable from the prior art.
  • a sensor for the estimation of at least a variable affecting a vehicle dynamics is implemented on a processing module and configured to calculate the estimate of the at least a variable describing the motion dynamic of a vehicle taking in account said set of dynamic variables measured during the motion of the vehicle and applying to said set of measured dynamic variables at least an optimal non linear regression function to obtain said estimate, said optimal non linear regression function being obtained according to the method of of any of the previous embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
PCT/IB2015/055895 2014-08-04 2015-08-03 A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor Ceased WO2016020834A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US15/501,664 US10597039B2 (en) 2014-08-04 2015-08-03 Method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor
CN201580053535.8A CN107000755B (zh) 2014-08-04 2015-08-03 用于估计影响车辆动力学变量的方法和对应的虚拟传感器
EP15798551.6A EP3177499B1 (en) 2014-08-04 2015-08-03 A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor
JP2017526773A JP6573978B2 (ja) 2014-08-04 2015-08-03 車両挙動に影響を及ぼす変数を予測する方法および対応する仮想センサ

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO2014A000631 2014-08-04
ITTO20140631 2014-08-04

Publications (1)

Publication Number Publication Date
WO2016020834A1 true WO2016020834A1 (en) 2016-02-11

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PCT/IB2015/055895 Ceased WO2016020834A1 (en) 2014-08-04 2015-08-03 A method for estimating variables affecting the vehicle dynamics and corresponding virtual sensor

Country Status (5)

Country Link
US (1) US10597039B2 (enExample)
EP (1) EP3177499B1 (enExample)
JP (1) JP6573978B2 (enExample)
CN (1) CN107000755B (enExample)
WO (1) WO2016020834A1 (enExample)

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CN107600073A (zh) * 2017-08-10 2018-01-19 同济大学 一种基于多源信息融合的车辆质心侧偏角估计系统及方法
CN107628036A (zh) * 2016-07-19 2018-01-26 通用汽车环球科技运作有限责任公司 传感器故障的检测和重建
IT201700019122A1 (it) * 2017-02-21 2018-08-21 Automobili Lamborghini Spa Metodo di stima di un parametro di assetto di un veicolo.
CN110121708A (zh) * 2016-09-30 2019-08-13 模道威有限责任公司 设计虚拟传感器的过程、对应的虚拟传感器、系统和计算机程序产品

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US10832426B2 (en) 2015-09-24 2020-11-10 Apple Inc. Systems and methods for surface monitoring
US10442439B1 (en) * 2016-08-18 2019-10-15 Apple Inc. System and method for road friction coefficient estimation
IT201600087202A1 (it) * 2016-08-25 2018-02-25 I E T S P A Metodo ed apparato di regolazione automatica di un veicolo in una condizione di prestazione prestabilita
US10019008B2 (en) * 2016-09-28 2018-07-10 Baidu Usa Llc Sideslip compensated control method for autonomous vehicles
US10343685B2 (en) 2016-09-28 2019-07-09 Baidu Usa Llc Physical model and machine learning combined method to simulate autonomous vehicle movement
DE102017214030A1 (de) * 2017-08-11 2019-02-14 Robert Bosch Gmbh Verfahren zum Bestimmen eines Reibwerts für einen Kontakt zwischen einem Reifen eines Fahrzeugs und einer Fahrbahn und Verfahren zum Steuern einer Fahrzeugfunktion eines Fahrzeugs
EP3531352A1 (en) * 2018-02-21 2019-08-28 Ningbo Geely Automobile Research & Development Co. Ltd. Method for identifying slow transient variations and/or local spatial variations of a physical property in a set of data points
US10875540B2 (en) * 2018-07-19 2020-12-29 Beijing Voyager Technology Co., Ltd. Ballistic estimation of vehicle data
CN109466558B (zh) * 2018-10-26 2020-08-04 重庆邮电大学 一种基于ekf和bp神经网络的路面附着系数估计方法
US11526724B2 (en) * 2019-08-21 2022-12-13 GM Global Technology Operations LLC Virtual sensor for estimating online unmeasurable variables via successive time derivatives
US11702084B2 (en) * 2019-11-25 2023-07-18 The Goodyear Tire & Rubber Company Vehicle sideslip angle estimation system and method
CN111391822B (zh) * 2020-03-27 2022-06-24 吉林大学 一种极限工况下汽车横纵向稳定性协同控制方法
CN111578931B (zh) * 2020-05-21 2022-03-04 中国人民解放军海军航空大学 基于在线滚动时域估计的高动态飞行器自主姿态估计方法
US12351188B2 (en) * 2023-11-28 2025-07-08 GM Global Technology Operations LLC Real-time reliability assessment method to enhance robustness of data-fusion based vehicle speed estimation
KR20250083835A (ko) * 2023-12-01 2025-06-10 에이치엘만도 주식회사 사이드 슬립 각 추정 장치 및 그 방법

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Publication number Priority date Publication date Assignee Title
CN107628036A (zh) * 2016-07-19 2018-01-26 通用汽车环球科技运作有限责任公司 传感器故障的检测和重建
CN110121708A (zh) * 2016-09-30 2019-08-13 模道威有限责任公司 设计虚拟传感器的过程、对应的虚拟传感器、系统和计算机程序产品
CN110121708B (zh) * 2016-09-30 2023-08-18 模道威有限责任公司 设计虚拟传感器的过程、对应的虚拟传感器、系统和计算机程序产品
IT201700019122A1 (it) * 2017-02-21 2018-08-21 Automobili Lamborghini Spa Metodo di stima di un parametro di assetto di un veicolo.
CN107600073A (zh) * 2017-08-10 2018-01-19 同济大学 一种基于多源信息融合的车辆质心侧偏角估计系统及方法
CN107600073B (zh) * 2017-08-10 2019-07-05 同济大学 一种基于多源信息融合的车辆质心侧偏角估计系统及方法

Also Published As

Publication number Publication date
CN107000755A (zh) 2017-08-01
CN107000755B (zh) 2021-01-22
JP6573978B2 (ja) 2019-09-11
EP3177499A1 (en) 2017-06-14
US10597039B2 (en) 2020-03-24
EP3177499B1 (en) 2021-10-20
US20170225688A1 (en) 2017-08-10
JP2017532253A (ja) 2017-11-02

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