WO2017009237A1 - Procédé pour la détermination d'une inclinaison d'une carrosserie de véhicule - Google Patents

Procédé pour la détermination d'une inclinaison d'une carrosserie de véhicule Download PDF

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Publication number
WO2017009237A1
WO2017009237A1 PCT/EP2016/066300 EP2016066300W WO2017009237A1 WO 2017009237 A1 WO2017009237 A1 WO 2017009237A1 EP 2016066300 W EP2016066300 W EP 2016066300W WO 2017009237 A1 WO2017009237 A1 WO 2017009237A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
acceleration
road
sensor
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.)
Ceased
Application number
PCT/EP2016/066300
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German (de)
English (en)
Inventor
Henning Irle
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.)
Hella GmbH and Co KGaA
Original Assignee
Hella KGaA Huek and Co
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 Hella KGaA Huek and Co filed Critical Hella KGaA Huek and Co
Publication of WO2017009237A1 publication Critical patent/WO2017009237A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the invention relates to a method for determining an inclination of a vehicle body of a vehicle having the features of the preamble of patent claim 1.
  • Determining the inclination of a vehicle body relative to the road is of interest for various vehicle applications and applications. For example, it is often required by law to provide headlamps with headlamp leveling to prevent dazzling oncoming traffic and avoid traffic accidents. Likewise, information on the inclination of the vehicle body in the context of suspension damping or the level control is used. It is still common today to determine the position of the body to the road by measuring a deflection of the vehicle springs on the rear axle and the front axle and to deduce the difference of the measured values on the inclination of the vehicle body. In almost all cases, a rod-loaded, partially mechanical-acting level sensor is used for this purpose, which is provided adjacent to the vehicle springs under the vehicle.
  • the conventional level sensors regularly cause problems. On the one hand, they are subject to mechanical wear due to the constant movement of the vehicle. In addition, a coupling via a linkage is calibration-consuming and maintenance-intensive. Furthermore, the shoring under the vehicle is unfavorable, since the sensors are difficult to access. In addition, mechanical damage can be caused, for example, by branches which penetrate into the active or movement region of the level sensor. There is therefore generally an effort to determine the inclination of the vehicle body by rodless level sensors. In recent years, efforts are known to use acceleration sensors to determine the inclination of the vehicle body. The inclination is determined, for example, by a two-time integration of a sensory acceleration signal. A first sensor here is the vehicle body and a second sensor is associated with the suspension. However, it is the case that the integration is susceptible to errors and long-term stable position detection does not seem feasible in practice. In addition, complex methods for determining or compensating a noise superimposed on the measured value must be carried out.
  • the object of the present invention is therefore to provide an improved method for determining the inclination of the vehicle body of the vehicle relative to the road.
  • the invention has the features of claim 1.
  • An analogous numerical-algorithmic implementation of this calculation can be carried out, for example, by a series development of the trigonometric variables or a numerical solution.
  • the particular advantage of the invention is that the inclination of the body of the vehicle can be detected via rodless sensors and determined using trigonometric functions. Since integral formation is dispensed with in the determination of the vehicle body inclination, the accuracy of the method according to the invention is unequal to greater than the accuracy of known methods.
  • measured values can be used via sensors already provided in the vehicle, for example acceleration sensors of the electronic stability program (ESP). In this respect, additional sensors can be dispensed with, with the result that the costs and the wiring effort are reduced.
  • ESP electronic stability program
  • the inclination of the vehicle body is determined or corrected particularly precisely by in addition to determining the acceleration in the vehicle longitudinal direction and the vertical axis direction of the vehicle, an acceleration in a vehicle transverse direction, that is to say orthogonal to the vehicle longitudinal direction and to the vertical axis direction, is determined.
  • the acceleration determined in the vehicle transverse direction is used in particular during a cornering or steering maneuver for the precise determination of the inclination of the vehicle body relative to the road in a primary measuring plane defined by the vehicle longitudinal direction and the vertical axis direction.
  • a further correction of the inclination of the vehicle body relative to the road can be carried out by determining a slip value for the wheel equipped with the second sensor and using it for the occurrence of a slip on the wheel, the value for the acceleration of the vehicle Correct direction of the road.
  • the value for the acceleration of the vehicle in the direction of the road can be corrected when a change in a diameter of the wheel having the second sensor is detected.
  • the change in diameter can be determined, for example, by means of a wheel provided on the tire ruck sensor. In each case improves the processing of the further measured values, the accuracy of the inventive method for determining the inclination of the vehicle body relative to the road.
  • acceleration values used in particular for determining the inclination are subjected to a plausibility check.
  • information provided for the control of the acceleration value for the vehicle or for controlling the diameter of the wheel in the direction of the road via a satellite navigation system, for example a GPS system, in particular information about the driven distance or the driving speed can be used.
  • a satellite navigation system for example a GPS system
  • a comparison of the specific acceleration with the measured values determined for a preceding or following vehicle. is specified in terms of acceleration or speed and the distance between the vehicles.
  • a further improvement in the accuracy of the method according to the invention can be achieved by providing more than one second sensor on the vehicle.
  • two or more wheels of the vehicle are equipped with their own second sensor.
  • an acceleration value for the vehicle in the direction of the road is determined via the sensors.
  • an acceleration value serving to carry out the method according to the invention can be determined, for example, by means of a suitable averaging or cumulation of the individual measured values.
  • measured value outliers can be identified.
  • the first sensor assigned to the vehicle body can be assigned directly to the vehicle body itself or to another vehicle component which is rigidly or approximately rigidly connected to the vehicle body and thus inclined or accelerated in the same way as the vehicle body.
  • the second acceleration sensor associated with the wheel can be mounted in the region of the wheel itself or the wheel suspension associated with the wheel.
  • the first measuring sensor which is assigned to the vehicle body and which serves to determine the acceleration of the vehicle body in the vehicle longitudinal direction or in the vertical axis direction, perform acceleration measurements directly in the vehicle longitudinal direction itself or in a 45 ° +/- 15 ° to the vehicle longitudinal direction inclined main measuring direction.
  • the measured value post-processing is simple.
  • Performing the measurement in a direction of inclination provided to the vehicle main direction simplifies the calibration of the sensor and the sensitivity of the measurement can be improved.
  • the slip determined for the driving wheels can be determined or compensated in particular for a model. To determine the slip, the sensors provided for the ESP system can be used.
  • FIG. 2 shows the vehicle according to FIG. 1 on the road in a second operating state
  • Fig. 3 shows the vehicle of FIG. 1 on the road in a third operating state
  • Fig. 4 is a vector graphics for visualization of the measured data and the geometric
  • a vehicle 100 travels in a first operating state according to FIG. 1 on a road 200, which is flat and not inclined to the horizon.
  • a first sensor 115 is provided, which is assigned to aggyka ⁇ rosserie 110 of the vehicle 100.
  • the first sensor 115 is exemplary in the manner of a 2-axis acceleration sensor for determining an acceleration a x of the vehicle 100 in a vehicle longitudinal direction x and a second, orthogonal to the acceleration a x of the vehicle 100 oriented acceleration a z in the direction of a vertical axis z of the vehicle 100 is formed.
  • a second sensor 125 is associated with a wheel 120 of the vehicle 100.
  • the second sensor 125 is realized, for example, as a wheel speed sensor or an angular speed sensor. By differentiation of the signal of the angular velocity sensor (second sensor 125), an acceleration a str of the vehicle 100 in the direction of the road 200 can be determined directly.
  • the angular velocity ⁇ of the wheel 120 is directly proportional to the speed of the vehicle 100.
  • the acceleration a str of the vehicle 100 in the direction of the road 200 is not determined solely by the second sensor 125 provided on the wheel 120 of the vehicle 100.
  • an average value of two or four available angular velocity sensors 125 can be determined in order to determine the vehicle acceleration a str of the vehicle 100 in the direction of the road 200 as accurately as possible. If the measuring signals of the four sensors 125 deviate too much from each other, outlier filters can be provided. The same applies if the determined angular velocity ⁇ does not result in an optionally additionally determined value of a further acceleration sensors fits.
  • a wheel slip is determined and compensated via a model-based algorithm. It is likewise possible to determine a diameter of the wheel 120 via a measurement or an indirect tire pressure determination and to take into account diameter changes in the determination of the acceleration a str of the vehicle 100 in the direction of the road 200.
  • the body 110 of the vehicle 100 has, in particular, for example a load, an inclination ⁇ with respect to the still horizontally extended road 200. It then applies, as set forth in FIG. 2, for the acceleration a x of the vehicle 100 in a vehicle longitudinal direction x
  • the road 200 is inclined with respect to the horizon by an angle ⁇ and that the gravitational acceleration g acts on the sensors 1 15, 125.
  • the gravitational acceleration g acting in the vehicle longitudinal direction x and in the vertical axis direction z of the vehicle 100 the following applies:
  • acceleration values a x , a : of the vehicle 100 in the vehicle longitudinal direction x and in the vertical axis direction y are then determined as follows:
  • the complete vector diagram of FIG. 4 shows the accelerations acting on the vehicle 100 and the geometric orientation in detail. Taking into account the acceleration terms according to the equations (5) and (6) and squaring the equations (7) and (8), we obtain

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé pour la détermination d'une inclinaison (α) d'une carrosserie de véhicule (110) d'un véhicule (100) par rapport à une route (200) au moyen d'un premier récepteur de mesure (115) fixe par rapport au composant de véhicule (110), au moyen d'un deuxième récepteur de mesure (125) qui est associé à une roue (120) du véhicule (100), et au moyen d'un troisième récepteur de mesure. Ledit procédé comprend les étapes suivantes consistant à : déterminer une accélération (ax) de la carrosserie du véhicule (110) dans une direction longitudinale du véhicule (x) en utilisant le premier récepteur de mesure (115) ; déterminer une accélération (az) du véhicule (100) dans la direction d'un axe élevé (z) du véhicule (100) orthogonal par rapport à la direction longitudinale du véhicule en utilisant le premier récepteur de mesure (115) ; déterminer une accélération (astr) du véhicule (100) dans la direction de la route (200) en utilisant le deuxième récepteur de mesure (125) ; et déterminer une composante d'accélération terrestre (gx) ayant un effet dans la direction longitudinale du véhicule (x) et une composante d'accélération terrestre (gz) ayant un effet dans la direction de l'axe élevé (z) du véhicule (100) sur la base de l'accélération terrestre (g) en utilisant le troisième récepteur de mesure, l'inclinaison (a) de la carrosserie de véhicule (110) par rapport à la route (200) étant déterminée par la formule α = arcsin (-ax/R)- arctan (B/A) ou une conversion de ce calcul en algorithmes mathématiques numériques avec R=√(A2 + B2), A=g⋅cos(ß), B=g⋅sin(ß)-astr et ß=-arcsin{((a2 x+az z-a2 str-gz)/2⋅astr⋅g}.
PCT/EP2016/066300 2015-07-14 2016-07-08 Procédé pour la détermination d'une inclinaison d'une carrosserie de véhicule Ceased WO2017009237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015111350.3 2015-07-14
DE102015111350.3A DE102015111350A1 (de) 2015-07-14 2015-07-14 Verfahren zur Ermittlung einer Neigung einer Fahrzeugkarosserie

Publications (1)

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WO2017009237A1 true WO2017009237A1 (fr) 2017-01-19

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DE (1) DE102015111350A1 (fr)
WO (1) WO2017009237A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017001271B3 (de) * 2017-02-10 2018-01-11 HTW Hochschule für Technik und Wirtschaft Dresden System und Verfahren zur Bestimmung eines Nickwinkels eines Fahrzeugs
DE102019212300A1 (de) * 2019-08-16 2021-02-18 Zf Friedrichshafen Ag Verfahren zur Ermittlung einer Längsbeschleunigung eines Kraftfahrzeuges

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002162225A (ja) * 2000-11-27 2002-06-07 Toyota Motor Corp 路面勾配推定装置
DE10248432A1 (de) * 2002-10-17 2004-04-29 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der momentanen Fahrbahnsteigung
US20050085950A1 (en) * 2001-11-06 2005-04-21 Manfred Altenkirch Method and device for determining the geometric vehicle inclination of a motor vehicle
DE102005050206A1 (de) * 2005-10-20 2007-04-26 Volkswagen Ag Verfahren und Vorrichtung zur Bestimmung der Wegstrecke und/oder Geschwindigkeit eines Kraftfahrzeuges
US20150088455A1 (en) * 2012-08-01 2015-03-26 Mitsubishi Electric Corporation Inclination detector and onboard apparatus

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1147929B1 (fr) * 2000-04-17 2005-09-21 Robert Bosch GmbH Disposif et méthode pour déterminer les paramètres statiques et dynamiques d'un véhicule
US7599779B2 (en) * 2006-03-08 2009-10-06 Yamaha Hatsudoki Kabushiki Kaisha Acceleration estimation device and vehicle
FR2923596B1 (fr) * 2007-11-09 2010-01-15 Michelin Soc Tech Systeme de controle du comportement au sol d'un vehicule comportant une determination de la pente du sol de roulement 1

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002162225A (ja) * 2000-11-27 2002-06-07 Toyota Motor Corp 路面勾配推定装置
US20050085950A1 (en) * 2001-11-06 2005-04-21 Manfred Altenkirch Method and device for determining the geometric vehicle inclination of a motor vehicle
DE10248432A1 (de) * 2002-10-17 2004-04-29 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der momentanen Fahrbahnsteigung
DE102005050206A1 (de) * 2005-10-20 2007-04-26 Volkswagen Ag Verfahren und Vorrichtung zur Bestimmung der Wegstrecke und/oder Geschwindigkeit eines Kraftfahrzeuges
US20150088455A1 (en) * 2012-08-01 2015-03-26 Mitsubishi Electric Corporation Inclination detector and onboard apparatus

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