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1. 发明公开

EP3309026A1 METHOD AND SYSTEM FOR COMPUTING A ROAD FRICTION ESTIMATE 有权
标题翻译：用于计算道路摩擦估计的方法和系统
公开(公告)号：EP3309026A1
公开(公告)日：2018-04-18
申请号：EP16193750.3
申请日：2016-10-13
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Gullvén, Henrik , Sköld, Mats
IPC分类号： B60T8/1764
CPC分类号： G01N19/02 , B60T8/171 , B60T8/1764 , B60T2210/12 , B60T2210/124 , B60T2270/213 , B60W40/068 , B60W2520/00 , B60W2520/10 , B60W2520/105 , B60W2520/28
摘要： The present invention relates to a method for determining a friction estimate between a road surface and a tire (101a-b) of a vehicle, the tire being arranged on a steerable wheel of the vehicle, and the vehicle an axle rack (104) pivotably attached to a linkage arm (106) connected to the steerable wheel such that a translational motion of the axle rack causes the linkage arm to rotate about a kingpin element (108) such that the linkage arm causes a turning motion of the steerable wheel, the method comprising the steps of: acquiring (S402) a plurality of rack force values; acquiring (S404) a plurality of lateral wheel force values; mapping (S406) a relation between the plurality of rack force values and the lateral wheel force values to a model, and determining (S408) the lateral friction estimate based on the mapping.
摘要翻译：本发明涉及一种用于确定车辆的路面和轮胎（101a-b）之间的摩擦估计值的方法，所述轮胎布置在所述车辆的可转向车轮上，并且所述车辆具有可枢转地附接到连接到所述可转向轮的连杆臂（106），使得所述轴架的平移运动导致所述连杆臂围绕主销元件（108）转动，使得所述连杆臂引起所述可转向轮的转动运动，所述方法，包括以下步骤：获取（S402）多个齿条力值; 获取（S404）多个侧向车轮力值; 将所述多个齿条力值与所述侧向车轮力值之间的关系映射（S406）为模型，以及基于所述映射确定（S408）所述侧向摩擦估计。

2. 发明公开

EP3309033A1 METHOD AND SYSTEM FOR DETERMINING ROAD PROPERTIES IN A VEHICLE 有权
标题翻译：用于确定车辆中的道路特性的方法和系统
公开(公告)号：EP3309033A1
公开(公告)日：2018-04-18
申请号：EP16193738.8
申请日：2016-10-13
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Sköld, Mats , Gullvén, Henrik
IPC分类号： B60W40/06
摘要： There is provided a method in a vehicle for determining road properties, the method comprising: acquiring vehicle acceleration in x, y and z directions; acquiring a rack force; acquiring a wheel speed for each of all four wheels; determining a wheel speed energy based on the wheel speed; determining a wheel slip of all four wheels based on a respective wheel speed of the wheel; determining an acceleration energy in each of the x, y and z-directions based on the vehicle acceleration and the vehicle speed; determining a rack force energy based on the detected rack force; and determining road properties based on the wheel speed energy, rack force energy and vehicle speed. There is also provided a system performing the described method.
摘要翻译：提供了一种用于确定道路特性的车辆中的方法，所述方法包括：在x，y和z方向上获取车辆加速度; 获得架子力量; 为所有四个车轮中的每一个获取车轮速度; 基于轮速确定轮速能量; 基于车轮的相应车轮速度确定所有四个车轮的车轮滑移; 基于车辆加速度和车辆速度确定x，y和z方向中的每一个方向上的加速能量; 基于检测到的齿条力确定齿条力能量; 并基于轮速能量，齿条力能量和车速确定道路特性。还提供了执行所述方法的系统。

3. 发明授权

EP2923924B1 Driver assist arrangement 有权
标题翻译：驾驶员协助安排
公开(公告)号：EP2923924B1
公开(公告)日：2017-08-16
申请号：EP14161254.9
申请日：2014-03-24
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Jonasson, Mats
IPC分类号： B62D15/02 , B60T7/04 , B60W30/09 , B60T7/22 , B60T8/1755 , B60W10/18 , B60W10/20
CPC分类号： B60W30/09 , B60T7/042 , B60T7/22 , B60T8/17558 , B60T2201/022 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W2510/18 , B60W2510/20 , B60W2520/14 , B60W2710/18 , B60W2710/20 , B60W2720/14 , B62D15/0265
摘要： A driver assist arrangement (1) is provided comprising a first yaw rate controller (7), a hazard evaluation unit (9) and a driver intention evaluation unit (13). The first yaw rate controller (7) is configured to control a yaw rate of the hosting vehicle (5), by comparing an expected yaw rate with an actual yaw rate and in response thereto selectively apply brakes of respective wheels of the host vehicle (5). The arrangement (1) further comprises a second yaw rate controller (15), configured to intervene in the control of the first yaw rate controller (7), in case the evaluated risk of an accident is above a threshold value and occurrence of an avoidance manoeuvre initiated by the driver (3) is detected. The present invention also relates to a vehicle (5) comprising a driver assist arrangement (1) and a method of assisting a driver (3) of a vehicle (5).
摘要翻译：提供驾驶员辅助装置（1），其包括第一偏航率控制器（7），危险评估单元（9）和驾驶员意图评估单元（13）。第一偏航角速度控制器（7）被配置为通过比较预期偏航角速度与实际偏航角速度并且响应于此而选择性地施加主车辆（5）的各个车轮的制动器来控制主导车辆（5）的偏航角速度）。装置（1）还包括第二偏航角速度控制器（15），该第二偏航角速度控制器被配置为在所评估的事故风险高于阈值并且避免发生的情况下干预第一偏航角速度控制器（7）的控制检测到由驾驶员（3）启动的操纵。本发明还涉及包括驾驶员辅助装置（1）和辅助车辆（5）的驾驶员（3）的方法的车辆（5）。

4. 发明公开

EP3106360A1 METHOD AND ARRANGEMENT FOR TIRE TO ROAD FRICTION ESTIMATION 有权
标题翻译： VERFAHREN UND ANORDNUNG ZURREIBWERTSCHÄTZUNGZWISCHEN REIFEN UND FAHRBAHN
公开(公告)号：EP3106360A1
公开(公告)日：2016-12-21
申请号：EP15172369.9
申请日：2015-06-16
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Gustafsson, Tony , Albinsson, Anton , Bruzelius, Fredrik
IPC分类号： B60T8/172 , B60W40/068
CPC分类号： B60W40/068 , B60R16/023 , B60T8/172 , B60T2210/12 , B60W2520/28
摘要： The present disclosure relates to a method and arrangement for estimating a friction coefficient (µ i ) between tires of a wheeled two-axis two-track road vehicle (1) and the ground. If the longitudinal velocity v x of the vehicle (1) is above a first threshold v xthres and the wheel angle δ f and/or the yaw rate Ω z is below a second threshold δ thres /Ω zthres , a positive torque is applied to both wheels on a first axle and an and opposite, negative torque, to both wheels on a second axle while following driver requested longitudinal vehicle (1) acceleration ( a x ). Wheel speeds ω i are measured and tire forces ( f i ) estimated. The friction coefficient (µ i ) between the tires and the ground are estimated from the measured wheel speeds ω i and the estimated tire forces ( f i ). The estimated friction coefficient (µ i ) is made available to other vehicle (1) systems.
摘要翻译：本公开涉及一种用于估计轮式双轴双轨道路车辆（1）的轮胎与地面之间的摩擦系数（μi）的方法和装置。如果车辆（1）的纵向速度vx高于第一阈值v xthres，并且车轮角度f和/或横摆角速度z z低于第二阈值thres / zthres，则将正转矩施加到两者在第一轴上的轮子和相反的负转矩到第二轴上的两个车轮，而跟随驾驶员要求纵向车辆（1）加速度（ax）。估计车轮速度和我的轮胎力（f i）。轮胎和地面之间的摩擦系数（μi）根据测量的车轮速度Éi和估计的轮胎力（f i）估算。估计摩擦系数（μi）可用于其他车辆（1）系统。

5. 发明授权

EP3309033B1 METHOD AND SYSTEM FOR DETERMINING ROAD PROPERTIES IN A VEHICLE 有权
公开(公告)号：EP3309033B1
公开(公告)日：2020-04-08
申请号：EP16193738.8
申请日：2016-10-13
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Sköld, Mats , Gullvén, Henrik
IPC分类号： B60W40/06

6. 发明公开

EP3059130A1 Method, arrangement and system for estimating vehicle cornering stiffness 审中-公开
标题翻译：方法，安排和系统用于估计车辆AT CORNER刚度
公开(公告)号：EP3059130A1
公开(公告)日：2016-08-24
申请号：EP15155851.7
申请日：2015-02-20
申请人： Volvo Car Corporation
发明人： Thor, Mikael , Gustafsson, Tony
IPC分类号： B60T8/1755
CPC分类号： B60W40/101 , B60T8/17551 , B60T2230/02 , B60T2270/86 , B60W2510/20 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2530/10 , B60W2720/00
摘要： Disclosed herein is a method, arrangement (3, 4, 5) and system for estimating one or more vehicle (1) cornering stiffness parameters ( c f , c r ) in a linear vehicle (1) operating region (11), where the method relied on comprises the steps of: reading sensor (2) data representative of at least vehicle (1) longitudinal velocity ( v x ), vehicle (1) lateral acceleration ( a y ), vehicle (1) yaw rate ( ω z ) and vehicle (1) steering angle ( δ ); determining from the read sensor (2) data if the cornering stiffness parameters ( c f , c r ) are observable; and if so providing an estimate of the cornering stiffness parameters ( c f , c r ) using a bicycle model that includes a model of tire relaxation dynamics.
摘要翻译：公开于是用于估计一个或多个车辆（1）转弯刚度参数（CF，CR）以线性车辆（1）操作区域（11），其中该方法依赖的方法，装置（3，4，5）和系统上包括以下步骤：读取传感器（2）代表至少车辆（1）的纵向速度的数据（VX），车辆（1）的横向加速度（AY），车辆（1）的横摆率（E z）和车辆（1 ）转向角（“）; 从所读取的传感器确定（2）数据，如果偏刚度参数（C F，C R）是可观测; 如果是这样一种使用自行车模型没有一个侧偏刚度参数的估计（C F，C R）包括轮胎弛豫动力学的模型。

7. 发明公开

EP3309024A1 METHOD AND SYSTEM FOR DETERMINING FRICTION BETWEEN THE GROUND AND A TIRE OF A VEHICLE 有权
标题翻译：用于确定车辆的地面和轮胎之间摩擦的方法和系统
公开(公告)号：EP3309024A1
公开(公告)日：2018-04-18
申请号：EP16193753.7
申请日：2016-10-13
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Jonasson, Mats
IPC分类号： B60T8/172 , B60W40/068
CPC分类号： B60T8/172 , B60T8/175 , B60T2210/12 , B60T2240/00 , B60T2250/00 , B60T2250/042 , B60W40/068
摘要： There is provided a method for estimating friction between a tire of a vehicle and a road surface, the method comprising acquiring, a front wheel axle torque, a rear wheel axle torque, a vehicle longitudinal acceleration, a vehicle pitch rate and wheel rotational velocities. The method further comprises determining a front wheel normal force and a rear wheel normal force, based on a center of gravity of the vehicle and the longitudinal acceleration; determining a longitudinal tire stiffness, jointly determining a vehicle longitudinal velocity, based on the wheel rotational velocities and vehicle longitudinal acceleration, and a vehicle pitch angle relative to the horizontal plane based on the vehicle pitch rate; and determining a friction coefficient between tires and ground based on the front and rear wheel axle torque, the front wheel normal force and the joint estimation of pitch angle and vehicle longitudinal velocity. There is also provided a system for performing the described method.
摘要翻译：提供了一种用于估计车辆的轮胎和路面之间的摩擦的方法，所述方法包括获取前轮轴扭矩，后轮轴扭矩，车辆纵向加速度，车辆俯仰速率和车轮旋转速度。该方法还包括基于车辆的重心和纵向加速度确定前轮法向力和后轮法向力; 确定纵向轮胎刚度，基于车轮旋转速度和车辆纵向加速度，以及基于车辆俯仰率相对于水平面的车辆俯仰角共同确定车辆纵向速度; 以及基于前后轮轴扭矩，前轮法向力以及俯仰角和车辆纵向速度的联合估计来确定轮胎与地面之间的摩擦系数。还提供了用于执行所述方法的系统。

8. 发明授权

EP3106360B1 METHOD AND ARRANGEMENT FOR TIRE TO ROAD FRICTION ESTIMATION 有权
标题翻译：轮胎摩擦估算的方法和安排
公开(公告)号：EP3106360B1
公开(公告)日：2018-04-11
申请号：EP15172369.9
申请日：2015-06-16
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Gustafsson, Tony , Albinsson, Anton , Bruzelius, Fredrik
IPC分类号： B60T8/172 , B60W40/068
CPC分类号： B60W40/068 , B60R16/023 , B60T8/172 , B60T2210/12 , B60W2520/28
摘要： The present disclosure relates to a method and arrangement for estimating a friction coefficient (µ i ) between tires of a wheeled two-axis two-track road vehicle (1) and the ground. If the longitudinal velocity v x of the vehicle (1) is above a first threshold v xthres and the wheel angle ´ f and/or the yaw rate © z is below a second threshold ´ thres /© zthres , a positive torque is applied to both wheels on a first axle and an and opposite, negative torque, to both wheels on a second axle while following driver requested longitudinal vehicle (1) acceleration ( a x ). Wheel speeds É i are measured and tire forces ( f i ) estimated. The friction coefficient (µ i ) between the tires and the ground are estimated from the measured wheel speeds É i and the estimated tire forces ( f i ). The estimated friction coefficient (µ i ) is made available to other vehicle (1) systems.

9. 发明公开

EP2923924A1 Driver assist arrangement 有权
标题翻译： Anordnung zur Fahrerassistenz
公开(公告)号：EP2923924A1
公开(公告)日：2015-09-30
申请号：EP14161254.9
申请日：2014-03-24
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Jonasson, Mats
IPC分类号： B62D15/02 , B60T7/04 , B60W30/09
CPC分类号： B60W30/09 , B60T7/042 , B60T7/22 , B60T8/17558 , B60T2201/022 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W2510/18 , B60W2510/20 , B60W2520/14 , B60W2710/18 , B60W2710/20 , B60W2720/14 , B62D15/0265
摘要： A driver assist arrangement (1) is provided comprising a first yaw rate controller (7), a hazard evaluation unit (9) and a driver intention evaluation unit (13). The first yaw rate controller (7) is configured to control a yaw rate of the hosting vehicle (5), by comparing an expected yaw rate with an actual yaw rate and in response thereto selectively apply brakes of respective wheels of the host vehicle (5). The arrangement (1) further comprises a second yaw rate controller (15), configured to intervene in the control of the first yaw rate controller (7), in case the evaluated risk of an accident is above a threshold value and occurrence of an avoidance manoeuvre initiated by the driver (3) is detected. The present invention also relates to a vehicle (5) comprising a driver assist arrangement (1) and a method of assisting a driver (3) of a vehicle (5).
摘要翻译：提供一种驾驶员辅助装置（1），其包括第一横摆率控制器（7），危险评估单元（9）和驾驶员意图评估单元（13）。第一横摆速度控制器（7）被配置为通过将预期横摆角速度与实际横摆率进行比较来控制主机车辆（5）的偏航率，并且响应于此选择性地施加主车辆的相应车轮的制动器（5））。所述装置（1）还包括第二横摆速度控制器（15），被配置为在所述评估的事故风险高于阈值并发生避免的情况下介入所述第一横摆率控制器（7）的控制中检测到由驾驶员（3）发起的机动。本发明还涉及一种包括驾驶员辅助装置（1）和辅助车辆（5）的驾驶员（3）的方法的车辆（5）。

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