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1. 发明公开

EP2773544A4 METHOD AND ARRANGEMENT FOR VEHICLE STABILIZATION 有权
标题翻译：车辆稳定的方法和安排
公开(公告)号：EP2773544A4
公开(公告)日：2015-08-12
申请号：EP11875078
申请日：2011-10-31
申请人： VOLVO LASTVAGNAR AB
发明人： TAGESSON KRISTOFFER , LAINE LEO , KHARRAZI SOGOL
IPC分类号： B60W30/02 , B60T8/1755 , B60W40/109 , B60W40/114 , B62D53/00
CPC分类号： B60W40/114 , B60T8/1708 , B60T8/1755 , B60T2230/06 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/18163 , B60W40/13 , B60W2040/1346 , B60W2520/14 , B60Y2200/148 , B62D13/00
摘要： An arrangement for improving stability of a vehicle combination includes a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes an actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each includes a lateral acceleration determining arrangement. A vehicle combination model is adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, where the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired lateral acceleration for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the desired lateral acceleration of the at least one towed vehicle.

2. 发明授权

EP3153374B1 METHOD FOR ESTIMATING TIRE FORCES FROM CAN-BUS ACCESSIBLE SENSOR INPUTS 有权
公开(公告)号：EP3153374B1
公开(公告)日：2018-09-19
申请号：EP16192369.3
申请日：2016-10-05
申请人： The Goodyear Tire & Rubber Company
发明人： SINGH, Kanwar Bharat
IPC分类号： B60W40/12 , G01G19/08
CPC分类号： B60W40/13 , B60C23/0488 , B60T2240/06 , B60W40/12 , B60W2040/1315 , B60W2040/1346 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/16 , B60W2520/18 , B60W2520/28 , B60W2520/30 , B60W2530/20 , B60W2540/18 , G01G19/086 , G01M1/122 , G01M17/02
摘要： A method for estimating a tire state including normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle is disclosed. The method comprises: accessing a vehicle CAN-bus for vehicle sensor-measured information; equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors providing by the CAN-bus input sensor data, the input sensor data including acceleration and one or more angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, and yaw rate; deploying a normal force estimator operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data; deploying a lateral force estimator operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data; and deploying a longitudinal force estimator operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data.

3. 发明授权

EP2773544B1 METHOD AND ARRANGEMENT FOR VEHICLE STABILIZATION 有权
标题翻译：车辆稳定的方法和安排
公开(公告)号：EP2773544B1
公开(公告)日：2018-04-25
申请号：EP11875078.5
申请日：2011-10-31
申请人： Volvo Lastvagnar AB
发明人： TAGESSON, Kristoffer , LAINE, Leo , KHARRAZI, Sogol
IPC分类号： B60W30/02 , B60W40/109 , B60T8/1755 , B60W40/114 , B62D53/00
CPC分类号： B60W40/114 , B60T8/1708 , B60T8/1755 , B60T2230/06 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/18163 , B60W40/13 , B60W2040/1346 , B60W2520/14 , B60Y2200/148 , B62D13/00
摘要： An arrangement for improving stability of a vehicle combination includes a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes an actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each includes a lateral acceleration determining arrangement. A vehicle combination model is adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, where the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired lateral acceleration for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the desired lateral acceleration of the at least one towed vehicle.

4. 发明公开

EP3294600A1 IDENTIFICATION DE L'INERTIE DE LACET ET DE TANGAGE DE VÉHICULE AUTOMOBILE 无效转让
公开(公告)号：EP3294600A1
公开(公告)日：2018-03-21
申请号：EP16727532
申请日：2016-05-09
申请人： RENAULT SAS
发明人： FANG ZHOU
IPC分类号： B60W40/12 , B60W40/13 , B60W50/00
CPC分类号： B60W40/12 , B60W2040/1315 , B60W2040/1338 , B60W2040/1346 , B60W2050/0035 , B60W2422/80 , B60W2510/22 , B60W2520/28 , B60W2520/30 , B60W2540/18
摘要： The invention relates to a method (30) for identifying the yaw inertia of a motor vehicle, characterised in that the method comprises the following consecutive steps: a first step (E1) of measuring values that are characteristic of the vehicle in terms of the wheels, comprising measurements of wheel forces; a second step (E3) of identifying the dynamic centre of gravity of the vehicle following the measuring step (E1); and a third step (E5) of identifying the dynamic yaw inertia of the vehicle following the step (E3) of identifying the dynamic centre of gravity. The yaw inertia value is then transmitted to a method for controlling the stability of the vehicle.

5. 发明公开

EP3153374A1 METHOD FOR ESTIMATING TIRE FORCES FROM CAN-BUS ACCESSIBLE SENSOR INPUTS 有权
标题翻译：芙蓉蓉ZURSCHÄTZUNGVONREIFENKRÄFTENÜberCAN-BUS-ZUGÄNGLICHESENSOREINGABEN
公开(公告)号：EP3153374A1
公开(公告)日：2017-04-12
申请号：EP16192369.3
申请日：2016-10-05
申请人： The Goodyear Tire & Rubber Company
发明人： SINGH, Kanwar Bharat
IPC分类号： B60W40/12 , G01G19/08
CPC分类号： B60W40/13 , B60C23/0488 , B60T2240/06 , B60W40/12 , B60W2040/1315 , B60W2040/1346 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/16 , B60W2520/18 , B60W2520/28 , B60W2520/30 , B60W2530/20 , B60W2540/18 , G01G19/086 , G01M1/122 , G01M17/02
摘要： A method for estimating a tire state including normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle is disclosed. The method comprises: accessing a vehicle CAN-bus for vehicle sensor-measured information; equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors providing by the CAN-bus input sensor data, the input sensor data including acceleration and one or more angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, and yaw rate; deploying a normal force estimator operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data; deploying a lateral force estimator operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data; and deploying a longitudinal force estimator operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data.
摘要翻译：公开了一种用于估计轮胎状态的方法，该轮胎状态包括安装在车轮上并支撑车辆的轮胎上的法向力，横向力和纵向力。该方法包括：访问车辆CAN总线以获取车辆传感器测量信息; 通过CAN总线输入传感器数据提供多个CAN总线可访问车载传感器，输入传感器数据包括加速度和一个或多个角速度，方向盘角度测量，车轮角轮速度，滚转速率，俯仰速率和偏航率; 部署法向力估计器，其可操作以从纵向载荷传递，横向载荷传递和静态法向力的总和估计轮胎上的法向力，使用从输入传感器数据导出的横向加速度，纵向加速度和滚动角度作为输入; 部署侧向力估计器，其可操作以使用来自所述输入传感器数据的横向加速度，纵向加速度和横摆速度作为输入测量从所述平面车辆模型估计所述轮胎上的横向力; 以及部署纵向力估计器，其可操作以从轮转动度模型估计轮胎上的纵向力，所述轮转动度模型使用从所述输入传感器数据导出的车轮角速度和驱动/制动扭矩。

6. 发明公开

EP2773544A1 METHOD AND ARRANGEMENT FOR VEHICLE STABILIZATION 有权
标题翻译：车辆稳定的方法和安排
公开(公告)号：EP2773544A1
公开(公告)日：2014-09-10
申请号：EP11875078.5
申请日：2011-10-31
申请人： Volvo Lastvagnar AB
发明人： TAGESSON, Kristoffer , LAINE, Leo , KHARRAZI, Sogol
IPC分类号： B60W30/02 , B60W40/109 , B60T8/1755 , B60W40/114 , B62D53/00
CPC分类号： B60W40/114 , B60T8/1708 , B60T8/1755 , B60T2230/06 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/18163 , B60W40/13 , B60W2040/1346 , B60W2520/14 , B60Y2200/148 , B62D13/00
摘要： An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, where the at least one towed vehicle comprises at least one actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a lateral acceleration determining means for determining the lateral acceleration of the vehicle and the at least one towed vehicle, where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, where the arrangement is adapted to stabilise the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired lateral acceleration for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the desired lateral acceleration of the at least one towed vehicle. The lateral acceleration may be estimated or measured. The advantage of the invention is that the stability of a vehicle combination can be improved, which in turn improves the road safety.
摘要翻译：一种用于提高包括牵引车辆和至少一个牵引车辆的车辆组合的稳定性的装置，其中所述至少一个牵引车辆包括至少一个车轴上的至少一个主动转向轴和/或单独制动器，其中牵引车辆和所述至少一个牵引车辆各自包括用于确定所述车辆和所述至少一个牵引车辆的横向加速度的横向加速度确定装置，其中所述装置进一步包括车辆组合模型，所述车辆组合模型适于确定所述车辆的横向加速度牵引车辆和至少一个牵引车辆的横向加速度，其中所述装置适于通过使用所确定的牵引车辆的横向加速度和所述至少一个牵引车辆的期望延迟值来稳定至少一个牵引车辆为所述至少一个牵引车辆建立期望的横向加速度，并且控制所述s 并且/或者所述至少一辆被牵引车辆的单独制动器使得所述至少一辆被牵引车辆的所确定的横向加速度对应于所述至少一辆被牵引车辆的期望横向加速度。横向加速度可以被估计或测量。本发明的优点是可以改善车辆组合的稳定性，从而改善道路安全。

7. 发明公开

EP2160314A1 PROCEDE D'IDENTIFICATION DU MOMENT D'INERTIE VERTICAL ET DES RIGIDITES DE DERIVE D'UN VEHICULE AUTOMOBILE 审中-公开
标题翻译：用于识别垂直转动惯量的方法和角板机动车
公开(公告)号：EP2160314A1
公开(公告)日：2010-03-10
申请号：EP08805677.5
申请日：2008-04-22
申请人： Renault S.A.S.
发明人： GARCIA ESTEBANEZ, Pablo
IPC分类号： B60W40/12 , B60W40/10
CPC分类号： B60W40/13 , B60W40/101 , B60W40/103 , B60W2040/1346 , B60W2050/0033
摘要： The present invention relates to a method of identifying a vertical moment of inertia and front and rear cornering stiffnesses of a motor vehicle comprising at least two steered wheels. This method involves a step (12, 14) of measuring a yaw rate and a transverse acceleration of the vehicle and a step (16, 18, 20) of simultaneously identifying said moment of inertia and said stiffnesses as parameters for a parametric model of a predetermined type for the vehicle according to the yaw-rate and transverse-acceleration measurements.

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