CN109941342A - 用于估计转向力矩的方法和装置 - Google Patents
用于估计转向力矩的方法和装置 Download PDFInfo
- Publication number
- CN109941342A CN109941342A CN201811547466.8A CN201811547466A CN109941342A CN 109941342 A CN109941342 A CN 109941342A CN 201811547466 A CN201811547466 A CN 201811547466A CN 109941342 A CN109941342 A CN 109941342A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- tire
- lateral force
- estimating
- estimated
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000012937 correction Methods 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000005484 gravity Effects 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000010426 asphalt Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (15)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP17209114.2 | 2017-12-20 | ||
EP17209114.2A EP3501944B1 (en) | 2017-12-20 | 2017-12-20 | Method and device for estimating a steering torque |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109941342A true CN109941342A (zh) | 2019-06-28 |
CN109941342B CN109941342B (zh) | 2022-02-11 |
Family
ID=60781815
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811547466.8A Active CN109941342B (zh) | 2017-12-20 | 2018-12-18 | 估计转向力矩的方法和装置、用于车辆的横向控制的方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11225284B2 (zh) |
EP (1) | EP3501944B1 (zh) |
CN (1) | CN109941342B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114787021A (zh) * | 2020-01-21 | 2022-07-22 | 日立安斯泰莫株式会社 | 转向控制装置和转向装置 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3501944B1 (en) * | 2017-12-20 | 2020-08-05 | Aptiv Technologies Limited | Method and device for estimating a steering torque |
US11034359B2 (en) * | 2018-11-29 | 2021-06-15 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Control device for a vehicle |
US20200301420A1 (en) * | 2019-03-22 | 2020-09-24 | Veoneer Us, Inc. | System and method to control the velocity and heading of a vehicle based on preview information |
KR20220108155A (ko) * | 2019-12-10 | 2022-08-02 | 볼보 트럭 코퍼레이션 | 온보드 노면 마찰 추산 |
CN112835292B (zh) * | 2020-12-31 | 2024-03-08 | 天津大学 | 一种自动驾驶电动车在崎岖路面的横向控制方法 |
CN115257919B (zh) * | 2021-04-29 | 2024-06-14 | 广汽埃安新能源汽车有限公司 | 一种纯电动四驱车型转向优化控制方法 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10965A (ja) * | 1996-06-13 | 1998-01-06 | Masato Abe | 車両挙動制御方法及びその装置 |
CN1795120A (zh) * | 2003-05-28 | 2006-06-28 | 丰田自动车株式会社 | 轮胎夹紧度推测装置及方法、行驶状态控制方法 |
CN1891552A (zh) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | 具有主动回正及阻尼控制的电动助力转向系统 |
US20070074565A1 (en) * | 2005-09-30 | 2007-04-05 | Paramsothy Jayakumar | System for virtual prediction of road loads |
CN101512531A (zh) * | 2005-11-16 | 2009-08-19 | 通用汽车环球科技运作公司 | 具有横向动力反馈的车辆稳定性控制 |
EP2105371B1 (en) * | 2008-03-27 | 2010-06-30 | Honda Motor Co., Ltd. | Rear wheel toe angle control device |
US20130144476A1 (en) * | 2010-06-03 | 2013-06-06 | Mira Ltd. | Yaw Motion Control of a Vehicle |
US20150158524A1 (en) * | 2013-12-06 | 2015-06-11 | GM Global Technology Operations LLC | Algorithm for steering angle command to torque command conversion |
DE102014224392A1 (de) * | 2014-11-28 | 2016-06-02 | Volkswagen Aktiengesellschaft | Verfahren zur Erhöhung der Fahrstabilität eines Kraftfahrzeugs bei Betätigung einer Lenkung in einer Kurvenfahrt und Kraftfahrzeug zur Durchführung des Verfahrens |
CN106476653A (zh) * | 2015-08-27 | 2017-03-08 | 富士重工业株式会社 | 车辆的控制装置及车辆的控制方法 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5979581A (en) | 1996-11-07 | 1999-11-09 | The Regents Of The University Of California | Lateral vehicle control apparatus and method for automated highway systems and intelligent cruise control |
US6185492B1 (en) | 1997-07-09 | 2001-02-06 | Toyota Jidosha Kabushiki Kaisha | Vehicle steering control apparatus for assisting a steering effort to move a vehicle along a line desired by a driver |
US6212453B1 (en) | 1998-09-11 | 2001-04-03 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
DE19910967C1 (de) * | 1999-03-12 | 2000-09-21 | Avl Deutschland Gmbh | Verfahren zum Simulieren des Verhaltens eines Fahrzeugs auf einer Fahrbahn |
JP3529037B2 (ja) | 1999-08-02 | 2004-05-24 | 日産自動車株式会社 | 車線追従装置 |
JP3637849B2 (ja) | 2000-07-06 | 2005-04-13 | 日産自動車株式会社 | 車線追従走行制御装置 |
JP3649119B2 (ja) | 2000-12-12 | 2005-05-18 | 日産自動車株式会社 | レーンキープアシスト制御装置 |
KR20020094545A (ko) | 2001-06-12 | 2002-12-18 | 현대자동차주식회사 | 자동차의 차선 이탈 방지시스템 및 그 제어방법 |
US7510038B2 (en) | 2003-06-11 | 2009-03-31 | Delphi Technologies, Inc. | Steering system with lane keeping integration |
US8983765B2 (en) | 2006-10-11 | 2015-03-17 | GM Global Technology Operations LLC | Method and system for lane centering control |
US8170739B2 (en) | 2008-06-20 | 2012-05-01 | GM Global Technology Operations LLC | Path generation algorithm for automated lane centering and lane changing control system |
US8190330B2 (en) | 2009-03-06 | 2012-05-29 | GM Global Technology Operations LLC | Model based predictive control for automated lane centering/changing control systems |
DE102010042135B4 (de) * | 2010-10-07 | 2015-10-22 | Robert Bosch Automotive Steering Gmbh | Verfahren zur Bestimmung einer Zahnstangenkraft für eine Lenkvorrichtung in einem Fahrzeug |
DE112011103834T8 (de) | 2010-11-19 | 2013-09-12 | Magna Electronics, Inc. | Spurhalteassistent und Spurzentrierung |
US8631693B2 (en) * | 2010-12-23 | 2014-01-21 | Horiba Instruments, Inc. | Wheel slip simulation systems and methods |
DE102012224125B4 (de) | 2012-01-02 | 2024-03-07 | Ford Global Technologies, Llc | Verfahren zur Spurhalteunterstützung eines Fahrers eines Kraftfahrzeugs und Spurhalteassistenzsystem |
US9688308B2 (en) * | 2013-12-06 | 2017-06-27 | GM Global Technology Operations LLC | Pre-alert of LCC's steering torque limit exceed |
US9221508B1 (en) * | 2014-12-12 | 2015-12-29 | Peter de Haan | Three-wheeled vehicles |
AT519261B1 (de) * | 2016-12-05 | 2018-05-15 | Avl List Gmbh | Verfahren und Prüfstand zum Durchführen eines Prüflaufs mit einem Antriebsstrang |
US10093321B1 (en) * | 2017-03-23 | 2018-10-09 | Mitsubishi Electric Research Laboratories, Inc. | System and method for calibrating parameters of tires |
EP3501944B1 (en) * | 2017-12-20 | 2020-08-05 | Aptiv Technologies Limited | Method and device for estimating a steering torque |
JP2019131013A (ja) * | 2018-01-30 | 2019-08-08 | 株式会社ジェイテクト | 操舵制御装置 |
-
2017
- 2017-12-20 EP EP17209114.2A patent/EP3501944B1/en active Active
-
2018
- 2018-12-04 US US16/208,796 patent/US11225284B2/en active Active
- 2018-12-18 CN CN201811547466.8A patent/CN109941342B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10965A (ja) * | 1996-06-13 | 1998-01-06 | Masato Abe | 車両挙動制御方法及びその装置 |
CN1795120A (zh) * | 2003-05-28 | 2006-06-28 | 丰田自动车株式会社 | 轮胎夹紧度推测装置及方法、行驶状态控制方法 |
US20070074565A1 (en) * | 2005-09-30 | 2007-04-05 | Paramsothy Jayakumar | System for virtual prediction of road loads |
CN101512531A (zh) * | 2005-11-16 | 2009-08-19 | 通用汽车环球科技运作公司 | 具有横向动力反馈的车辆稳定性控制 |
CN1891552A (zh) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | 具有主动回正及阻尼控制的电动助力转向系统 |
EP2105371B1 (en) * | 2008-03-27 | 2010-06-30 | Honda Motor Co., Ltd. | Rear wheel toe angle control device |
US20130144476A1 (en) * | 2010-06-03 | 2013-06-06 | Mira Ltd. | Yaw Motion Control of a Vehicle |
US20150158524A1 (en) * | 2013-12-06 | 2015-06-11 | GM Global Technology Operations LLC | Algorithm for steering angle command to torque command conversion |
DE102014224392A1 (de) * | 2014-11-28 | 2016-06-02 | Volkswagen Aktiengesellschaft | Verfahren zur Erhöhung der Fahrstabilität eines Kraftfahrzeugs bei Betätigung einer Lenkung in einer Kurvenfahrt und Kraftfahrzeug zur Durchführung des Verfahrens |
CN106476653A (zh) * | 2015-08-27 | 2017-03-08 | 富士重工业株式会社 | 车辆的控制装置及车辆的控制方法 |
Non-Patent Citations (1)
Title |
---|
YUNG-HSIANG JUDY HSU: ""Estimation of Tire Slip Angle and Friction Limits Using Steering Torque"", 《IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY》 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114787021A (zh) * | 2020-01-21 | 2022-07-22 | 日立安斯泰莫株式会社 | 转向控制装置和转向装置 |
CN114787021B (zh) * | 2020-01-21 | 2023-12-12 | 日立安斯泰莫株式会社 | 转向控制装置和转向装置 |
Also Published As
Publication number | Publication date |
---|---|
CN109941342B (zh) | 2022-02-11 |
EP3501944B1 (en) | 2020-08-05 |
US11225284B2 (en) | 2022-01-18 |
US20190185053A1 (en) | 2019-06-20 |
EP3501944A1 (en) | 2019-06-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109941342B (zh) | 估计转向力矩的方法和装置、用于车辆的横向控制的方法 | |
US6904349B2 (en) | Method of estimating quantities that represent state of vehicle | |
US9233692B2 (en) | Method to control a vehicle path during autonomous braking | |
US8682599B2 (en) | Road surface friction coefficient estimating device and road surface friction coefficient estimating method | |
US8855885B2 (en) | Device for estimating state quantity of skid motion of vehicle | |
CN110712676A (zh) | 转向系统的齿条力估计 | |
US20160288830A1 (en) | Vehicle steering device and vehicle steering control method | |
CN108839652B (zh) | 一种车辆失稳可控域的自动驾驶紧急避让系统 | |
JP6127560B2 (ja) | 道路形状予測装置 | |
US11511790B2 (en) | Road friction coefficient estimation using steering system signals | |
JP4127062B2 (ja) | 横加速度センサのドリフト量推定装置、横加速度センサの出力補正装置及び路面摩擦状態推定装置 | |
US10668928B2 (en) | Method and device for estimating the friction values of a wheel of a vehicle against a substrate | |
JP7493598B2 (ja) | オンボード路面摩擦推定 | |
US11498613B2 (en) | Road friction coefficient estimation using steering system signals | |
CN110576898B (zh) | 机动车辆转向控制系统及转向控制方法 | |
JP5206490B2 (ja) | 車両接地面摩擦状態推定装置及びその方法 | |
JP2007240392A (ja) | 接地荷重推定装置 | |
CN113665669B (zh) | 车辆稳定性控制系统及方法 | |
CN102196957B (zh) | 具有根据侧偏角实施的转向干预的行驶动态性调节器 | |
US7164974B2 (en) | Vehicle roll sensing using load shift estimation | |
CN114572301B (zh) | 无扭矩传感器的基于动态交通工具模型的辅助 | |
CN111572548A (zh) | 使用转向系统信号的道路摩擦系数估计 | |
JP2008087548A (ja) | 旋回状態推定装置、自動車、及び旋回状態推定方法 | |
WO2017095301A1 (en) | Method and system for facilitating steering of a vehicle during driving along a road | |
KR20220068264A (ko) | 자율주행 자동차를 위한 제어 장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240729 Address after: Luxembourg Patentee after: Anbofu Technology (2) Co.,Ltd. Country or region after: Luxembourg Address before: Babado J San Michael Patentee before: Aptiv Technologies Ltd. Country or region before: Barbados |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20241015 Address after: Luxembourg Patentee after: Anbofu Manufacturing Management Services Co.,Ltd. Country or region after: Luxembourg Address before: Luxembourg Patentee before: Anbofu Technology (2) Co.,Ltd. Country or region before: Luxembourg |