DE60300375D1 - Fahrbahnzustandserfassungsvorrichtung und diese Vorrichtung benutzendes Fahrzeugsteuerungssystem - Google Patents

Fahrbahnzustandserfassungsvorrichtung und diese Vorrichtung benutzendes Fahrzeugsteuerungssystem

Info

Publication number
DE60300375D1
DE60300375D1 DE60300375T DE60300375T DE60300375D1 DE 60300375 D1 DE60300375 D1 DE 60300375D1 DE 60300375 T DE60300375 T DE 60300375T DE 60300375 T DE60300375 T DE 60300375T DE 60300375 D1 DE60300375 D1 DE 60300375D1
Authority
DE
Germany
Prior art keywords
control system
vehicle control
road condition
condition detecting
detecting device
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.)
Expired - Lifetime
Application number
DE60300375T
Other languages
English (en)
Other versions
DE60300375T2 (de
Inventor
Yoshiyuki Yasui
Eiichi Ono
Yuji Muragishi
Shinji Takeuchi
Minekazu Momiyama
Hiroaki Kato
Kenji Asano
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.)
Advics Co Ltd
Toyoda Koki KK
Aisin Corp
Original Assignee
Aisin Seiki Co Ltd
Advics Co Ltd
Toyoda Koki KK
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 Aisin Seiki Co Ltd, Advics Co Ltd, Toyoda Koki KK filed Critical Aisin Seiki Co Ltd
Application granted granted Critical
Publication of DE60300375D1 publication Critical patent/DE60300375D1/de
Publication of DE60300375T2 publication Critical patent/DE60300375T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • B60W40/02—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
    • B60W40/064—Degree of grip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60W40/101—Side slip angle of tyre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
DE60300375T 2002-10-11 2003-10-10 Fahrbahnzustandserfassungsvorrichtung und diese Vorrichtung benutzendes Fahrzeugsteuerungssystem Expired - Lifetime DE60300375T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002298354 2002-10-11
JP2002298354A JP3940056B2 (ja) 2002-10-11 2002-10-11 路面状態推定装置、及び該装置を備えた車両の運動制御装置

Publications (2)

Publication Number Publication Date
DE60300375D1 true DE60300375D1 (de) 2005-04-14
DE60300375T2 DE60300375T2 (de) 2006-02-09

Family

ID=32025576

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60300375T Expired - Lifetime DE60300375T2 (de) 2002-10-11 2003-10-10 Fahrbahnzustandserfassungsvorrichtung und diese Vorrichtung benutzendes Fahrzeugsteuerungssystem

Country Status (4)

Country Link
US (1) US6952635B2 (de)
EP (1) EP1407950B1 (de)
JP (1) JP3940056B2 (de)
DE (1) DE60300375T2 (de)

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JP3964771B2 (ja) * 2002-10-11 2007-08-22 株式会社豊田中央研究所 路面状態推定装置、及び該装置を備えた車両の運動制御装置
JP4213994B2 (ja) * 2003-05-28 2009-01-28 株式会社豊田中央研究所 タイヤグリップ度推定装置及び方法、走行状態制御方法
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JP4213545B2 (ja) * 2003-09-05 2009-01-21 株式会社ジェイテクト 車輪のグリップ度推定装置、及び該装置を備えた車両の運動制御装置
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JP4421426B2 (ja) * 2004-08-31 2010-02-24 本田技研工業株式会社 操舵装置
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JP5336052B2 (ja) * 2007-05-28 2013-11-06 株式会社デンソー クルーズ制御装置、プログラム、及び目標車速の設定方法
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JP5289408B2 (ja) * 2010-10-01 2013-09-11 三菱電機株式会社 車両制御装置
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CN109969165B (zh) * 2017-12-27 2020-10-02 南京理工大学 考虑轮胎侧向力贡献的基于目标优化的转矩分配方法
JP2019131013A (ja) * 2018-01-30 2019-08-08 株式会社ジェイテクト 操舵制御装置
JP6910973B2 (ja) * 2018-02-02 2021-07-28 日立Astemo株式会社 車両制御装置及びその制御方法並びに車両制御システム
JP7099056B2 (ja) * 2018-06-01 2022-07-12 株式会社ジェイテクト 操舵制御装置
JP7243045B2 (ja) * 2018-06-01 2023-03-22 株式会社ジェイテクト 操舵制御装置
JP7155616B2 (ja) * 2018-06-01 2022-10-19 株式会社ジェイテクト 操舵制御装置
JP7087688B2 (ja) * 2018-06-01 2022-06-21 株式会社ジェイテクト 操舵制御装置
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Also Published As

Publication number Publication date
EP1407950A1 (de) 2004-04-14
US6952635B2 (en) 2005-10-04
EP1407950B1 (de) 2005-03-09
DE60300375T2 (de) 2006-02-09
US20040148077A1 (en) 2004-07-29
JP2004130964A (ja) 2004-04-30
JP3940056B2 (ja) 2007-07-04

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