EP2356471A1 - Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule - Google Patents

Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule

Info

Publication number
EP2356471A1
EP2356471A1 EP09777771A EP09777771A EP2356471A1 EP 2356471 A1 EP2356471 A1 EP 2356471A1 EP 09777771 A EP09777771 A EP 09777771A EP 09777771 A EP09777771 A EP 09777771A EP 2356471 A1 EP2356471 A1 EP 2356471A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
control device
longitudinal acceleration
speed
determined
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.)
Withdrawn
Application number
EP09777771A
Other languages
German (de)
English (en)
Inventor
Immanuel Henken
Tobias Munko
Gerhard Ruhnau
Axel Stender
Ingo Tha
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.)
ZF CV Systems Hannover GmbH
Original Assignee
Wabco GmbH
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 Wabco GmbH filed Critical Wabco GmbH
Publication of EP2356471A1 publication Critical patent/EP2356471A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
    • G01P13/045—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement with speed indication

Definitions

  • the invention relates to a method for determining a direction of travel, a control device for a vehicle system, such a vehicle system and a vehicle with such a vehicle system.
  • the measurement of the driving speed of a vehicle generally takes place via the wheel speeds which are determined by the wheel speed sensors of the individual wheels.
  • the wheel speed sensors are e.g. formed as inductive, which determine changes in the inductance or the magnetic flux of an air gap to teeth or tooth flanks of a metal disc upon rotation of the vehicle wheel.
  • Edge detection can thus be determined reliably the wheel speed;
  • the direction of travel can not yet be determined from the wheel speed signal.
  • the invention has for its object to provide a method for determining a direction of travel, a control device and a vehicle system using the control direction and a vehicle with which a relatively simple and sufficiently accurate determination of the direction of travel is possible.
  • the invention is based on the idea of determining the direction of travel from wheel speeds of simple wheel speed sensors and an additionally measured longitudinal acceleration signal of the vehicle. For this purpose, a start-up procedure is advantageously detected and in this case the direction of travel is determined, which subsequently can not change again until a standstill and subsequent start-up procedure.
  • the wheel speed sensors serve in this case to determine a driving speed or the amount of the driving speed in order to determine in particular a starting process, wherein according to the invention in particular a starting operation in the reverse direction is detected.
  • a standstill of the vehicle in which the vehicle speed is zero or below a sufficiently low threshold value of eg 2 km / h, since at low speeds, the resolution is difficult due to the time widely spaced edge signals . If, after detecting a standstill, the speed signal subsequently increases and, at the same time, a longitudinal acceleration directed backwards is determined, a start-up procedure is thus decided according to the invention.
  • the thus determined reverse driving state can be stored subsequently, for example by setting a Flags or storing a value in a memory until a standstill of the vehicle is subsequently determined again.
  • control device or the control unit of an already existing vehicle dynamics control system is used as a control device, in particular ABS and / or an electronic stability system. If the control device already has such a longitudinal acceleration sensor anyway, no additional hardware effort is required. Furthermore, a combined transverse acceleration and longitudinal acceleration sensor can also be provided; Many vehicles, especially trailer vehicles, already have a lateral acceleration sensor for their vehicle dynamics control. The use of a combined longitudinal and lateral acceleration sensor is not significantly more expensive or expensive compared to a pure lateral acceleration sensor. Thus, according to the invention by a small additional hardware cost, which is significantly lower than the use of a double sensor on a vehicle, a reliable detection of the direction of travel. If appropriate, the longitudinal acceleration can also be used to determine critical driving states or the driving dynamics control.
  • the ascertained reverse drive signal can according to the invention also be output in a recognizable manner to the outside, e.g. by an acoustic output device that outputs a warning signal when reversing detected.
  • an acoustic warning to people standing behind it and vehicles can be issued directly from the trailer vehicle that the trailer moves backwards.
  • an optical signal can also be output, e.g. directly by controlling reversing lights.
  • the installation position of the longitudinal acceleration sensor can be checked and / or learned automatically become.
  • This learning can be done, for example, by determining acceleration processes at sufficiently high speeds. If, for example, a vehicle is subjected to greater acceleration at a higher speed, this can certainly be recognized as a deceleration direction and distinguished from an acceleration process.
  • the achievable accelerations at a higher speed of eg 50 km / h are certainly much lower than the achievable delays.
  • a starting operation is determined in order not to erroneously determine a deceleration process or braking process, in which an acceleration in the reverse direction is also measured, as reverse travel.
  • the starting process can be detected with sufficient certainty from the speed values, so that corresponding misinterpretations can be ruled out.
  • a supplementary plausibility check can be carried out, e.g. also by excluding certain critical driving conditions. If e.g. a braking on a smooth surface or gravel or sand to be blocked and thus temporarily stationary wheels leads, at the same time due to the braking longitudinal acceleration occurs after, and subsequently the wheels are taken back from the ground and thus again indicate an increasing speed, this can a start-up procedure can be distinguished by a detected ABS intervention case excludes the output of a reversing drive signal.
  • Fig. 1 is a block diagram of a trailer vehicle according to the invention
  • Fig. 2 is a flowchart of a method according to the invention.
  • a trailer vehicle e.g. can be designed as a trailer or semitrailer semi-trailer and is provided for connection to a towing vehicle;
  • the invention can also be realized in a motor vehicle.
  • the direction of travel F points forward, correspondingly, the reverse direction points in the direction opposite to f.
  • the control device 2 can be designed, in particular, as a control device 2 which serves for vehicle control, e.g. a vehicle dynamics control or a brake control.
  • the longitudinal acceleration sensor 9 may be formed as a combined longitudinal and lateral acceleration sensor, since such a combined training is inexpensive and saves installation space on the circuit board.
  • the control device 2 determines in a manner known per se from the wheel speeds ni the individual speeds of the wheels 3, 4, 5 and thus also a speed v (t) as a function of the time t.
  • the speed of the respective wheel 6, 7, 8 and thus the magnitude of the speed is determined from the flanks of the wheel speed signals n3, n4, n5 in a manner known per se and thus not described in detail here; the total vehicle speed v (t) is thus a positive amount regardless of the direction of travel.
  • a direct determination of the direction of travel is not possible from the wheel speed sensors 3, 4, 5 used here.
  • the time-dependent longitudinal acceleration measurement signal Sa (t) additionally used according to the invention initially indicates the direction of an acceleration or a deceleration.
  • the acceleration a in the direction of travel is referred to as positive and thus correspondingly in the reverse direction as negative.
  • a negative, measured longitudinal acceleration a (t) may initially be a deceleration or deceleration during a normal forward travel or an acceleration toward the rear.
  • step St1 e.g. At the start of the towing vehicle and thus the initialization of the vehicle dynamics control by the control device 2 of the vehicle 1 or trailer vehicle 1.
  • the longitudinal acceleration is continuously measured via the longitudinal acceleration sensor 9 and the signal Sa (t) is output.
  • the reverse drive signal r is output;
  • a flag can be set or this value can be stored in a memory so that the subsequent driving process is recognized as a reverse drive.
  • a process may be subsequently driven with the reverse travel signal r, e.g. an acoustic signal is output via an acoustic output device 12 and / or a light signal is emitted to the rear via rear light 14.
  • the determined signal r can in principle also be transmitted to another vehicle, e.g. the towing vehicle, are output, e.g. for a plausibility check.
  • step St4 or even in the case n of the decision step St3, if no starting process is determined to the rear, each reset before step St2 and thus carried out continuously.
  • the installation position of the longitudinal acceleration sensor 9 can be checked and / or learned automatically.
  • This learning can e.g. by determining braking or deceleration processes at sufficiently high speeds v. If the vehicle 1 is subject to a greater acceleration a at a higher speed, then this direction of the acceleration a can safely be used as the direction of deceleration, i. recognized against the direction of travel and be distinguished from an acceleration process.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé de détermination d'une direction de déplacement d'un véhicule (1), en particulier d'un véhicule remorqué. Des signaux de vitesse de rotation de roue (n1, n2, n3) sont enregistrés et une vitesse de déplacement (v) est déterminée. Une accélération longitudinale (a) du véhicule (1) est mesurée et un signal de mesure de l'accélération longitudinale (Sa) est fourni en sortie. À partir d'une variation dans le temps de la vitesse de déplacement (v), un processus d'approche est identifié, et, à partir du signal de mesure de l'accélération longitudinale (Sa), la direction du processus d'approche est déterminée. En particulier, un processus d'approche en marche arrière est reconnu. L'invention concerne en outre un dispositif de commande (2) pour la mise en œuvre du procédé, en particulier dans la régulation d'un véhicule, un système de véhicule et un véhicule correspondant.
EP09777771A 2008-11-08 2009-08-08 Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule Withdrawn EP2356471A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102008056529 2008-11-08
DE102009020594A DE102009020594A1 (de) 2008-11-08 2009-05-09 Verfahren zum Ermitteln einer Fahrtrichtung und Steuereinrichtung für ein Fahrzeugsystem
PCT/EP2009/005779 WO2010051869A1 (fr) 2008-11-08 2009-08-08 Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule

Publications (1)

Publication Number Publication Date
EP2356471A1 true EP2356471A1 (fr) 2011-08-17

Family

ID=42105296

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09777771A Withdrawn EP2356471A1 (fr) 2008-11-08 2009-08-08 Procédé de détermination d'une direction de déplacement et dispositif de commande pour un système de véhicule

Country Status (4)

Country Link
US (1) US20110264301A1 (fr)
EP (1) EP2356471A1 (fr)
DE (1) DE102009020594A1 (fr)
WO (1) WO2010051869A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10670479B2 (en) 2018-02-27 2020-06-02 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US10696109B2 (en) 2017-03-22 2020-06-30 Methode Electronics Malta Ltd. Magnetolastic based sensor assembly
US11084342B2 (en) 2018-02-27 2021-08-10 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11135882B2 (en) 2018-02-27 2021-10-05 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11221262B2 (en) 2018-02-27 2022-01-11 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11491832B2 (en) 2018-02-27 2022-11-08 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing

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UA104547C2 (uk) * 2010-07-20 2014-02-10 Лейка Геосистемз Аг Система та спосіб визначення точного напрямку курсу транспортного засобу
DE102011080033A1 (de) 2010-07-29 2012-02-02 Continental Teves Ag & Co. Ohg Verfahren zur Ermittlung der Fahrtrichtung eines Kraftfahrzeugs
US8965691B1 (en) * 2012-10-05 2015-02-24 Google Inc. Position and direction determination using multiple single-channel encoders
DE102013015590A1 (de) * 2013-09-19 2015-04-02 Wabco Gmbh Verfahren und System zur Steuerung von Funktionen in einem Fahrzeug
US10584965B2 (en) 2017-09-22 2020-03-10 Goodrich Corporation Wheel speed and direction sensor
CN109343049B (zh) 2017-11-10 2022-04-26 毫末智行科技有限公司 跟踪可移动目标的方法和装置

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DE19837373B4 (de) * 1998-08-18 2006-07-06 Continental Teves Ag & Co. Ohg Verfahren zur Blockierschutz- und/oder Antriebsschlupfregelung
EP1351844A1 (fr) * 2001-01-11 2003-10-15 Continental Teves AG & Co. oHG Procede et dispositif de reconnaissance de sens de deplacement
DE10260848A1 (de) * 2002-12-23 2004-07-08 Robert Bosch Gmbh Vorrichtung zur Auswertung von ersten Sensorsignalen in einem Fahrzeug
DE10318503A1 (de) * 2003-04-24 2004-11-11 Robert Bosch Gmbh Verfahren und Vorrichtung zur Überwachung eines Rückwärtsgangsschalters
DE102006030590B4 (de) * 2006-07-03 2023-11-30 Continental Automotive Technologies GmbH Verfahren und Vorrichtung zur Bestimmung der Fahrtrichtung eines Fahrzeugs
EP1892438B1 (fr) * 2006-08-21 2010-01-06 Ford Global Technologies, LLC Contrôle de la direction de déplacement d'un véhicule
DE102007012833A1 (de) * 2007-03-17 2008-09-18 Valeo Schalter Und Sensoren Gmbh Verfahren zur Feststellung eines Fahrtrichtungswechsels eines Fahrzeugs und Steuerungsmodul hierfür
WO2008113533A2 (fr) * 2007-03-17 2008-09-25 Valeo Schalter Und Sensoren Gmbh Procédé de détection d'un inverseur du sens de marche d'un véhicule et module de commande correspondant

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10696109B2 (en) 2017-03-22 2020-06-30 Methode Electronics Malta Ltd. Magnetolastic based sensor assembly
US10940726B2 (en) 2017-03-22 2021-03-09 Methode Electronics Malta Ltd. Magnetoelastic based sensor assembly
US10670479B2 (en) 2018-02-27 2020-06-02 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11084342B2 (en) 2018-02-27 2021-08-10 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11135882B2 (en) 2018-02-27 2021-10-05 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11221262B2 (en) 2018-02-27 2022-01-11 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing
US11491832B2 (en) 2018-02-27 2022-11-08 Methode Electronics, Inc. Towing systems and methods using magnetic field sensing

Also Published As

Publication number Publication date
DE102009020594A1 (de) 2010-05-20
US20110264301A1 (en) 2011-10-27
WO2010051869A1 (fr) 2010-05-14

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