公开(公告)号：EP2610605A1

公开(公告)日：2013-07-03

申请号：EP11819904.1

申请日：2011-08-23

Applicant: Nissan Motor Co., Ltd

Inventor： SHIOZAWA Yuuki ,  NAWANO Masaaki ,  KOBAYASHI Yosuke ,  NAKAMURA Tamaki

IPC: G01M17/007 ,  B60G17/018 ,  B60L15/20 ,  B60W40/10

CPC classification number: B60T8/171 ,  B60L3/102 ,  B60T8/17 ,  B60T8/1755 ,  B60W10/04 ,  B60W10/184 ,  B60W30/025 ,  B60W30/20 ,  B60W40/11 ,  B60W2520/16 ,  B60W2520/263 ,  B60W2520/28 ,  B60W2710/0666 ,  B60W2710/182 ,  G01M7/02 ,  G01M17/007 ,  G06F11/30 ,  Y02T10/7258

Abstract: Computing sections (31, 32) compute an average front-wheel speed VwF=(VwFL+VwFR)/2 and an average rear wheel speed VwR=(VwRL+VwRR)/2, and then the resulting values (VwF and VwR) are passed through band-pass filtering sections (33, 34) to extract only a component near a vehicle body resonance frequency, respectively, thus acquiring a vibration component (fVwF) of the front wheel speed (VwF) near the vehicle body resonance frequency and a vibration component (fVwR) of the rear wheel speed (VwR) near the vehicle body resonance frequency, the vibration components being representative of a vehicle body vibration. Computing sections (35, 36) are adapted to determine, from the resulting values (fVwF and fVwR), a back-and-forth displacement (Xtf) of the front wheels and a back-and-forth displacement (Xtr) of the rear wheels, the dis placements being representative of the vehicle body vibration; to determine, from the resulting values (Xtf and Xtr), the up-and-down dis placement of a portion above a front axle and the up-and-down displacement of a portion above a rear axle, the up-and-down displacements being caused by the vehicle body vibration, on the basis of the inherent relations between the back-and-forth displacement and the up-and-down displacement of the front wheels and the rear wheels, the relations being determined by the geometry of a suspension; to estimate the vehicle body vibration (an up-and-down bounce speed (dZv) and a pitch angular velocity (d8p)) from the front and rear up-and-down displacements of the vehicle body; and to determine an amount of driving and braking force compensation (L'i Td) which is necessary to alleviate the vehicle body vibration.

Abstract translation: 计算部（31，32）上平均前轮速度VWF =（VWFL + VwFR）/ 2和平均后轮速度VWR =（速Vwrl +速Vwrr）/ 2计算，然后将所得的值（vWF的到VWR）是 通过带通滤波部通过（33,34），以仅提取部件靠近车身的共振频率，分别，从而获取所述前轮速度（vWF）的靠近车身的共振频率和一个的振动分量（fVwF） 后轮速度（VWR）靠近车体的共振频率的振动分量（fVwR），振动成份表示车体振动的。 计算部（35，36）angepasst确定性矿，从前轮的后方的所产生的值（fVwF和fVwR），背面的往复位移（XTF）和背面的往复位移（XTR） 轮子，该DIS刊登位置表示所述车体振动的; 确定性矿，从所得的值（XTF和XTR），向上和向下的前轴和上述后轮轴的部分的向上和向下位移时，向上和向下的部分的DIS放置上述 位移由车体振动引起的，背面的往复位移和前轮的向上和向下位移和后轮之间的内在关系的基础上，该关系被确定通过的几何形状开采 悬挂; 来估计车体振动从前方与车体的后部向上和向下位移（向上和向下弹起速度（ODP）和一俯仰角速度（D8P）的）; 并就驱动的量确定性矿和制动力补偿（L'我Td的）所有这是必要的，以减轻车体振动。

公开(公告)号：EP2295301A1

公开(公告)日：2011-03-16

申请号：EP09773397.6

申请日：2009-06-26

Applicant: Nissan Motor Co., Ltd.

Inventor： SHIOZAWA Yuuki ,  MOURI Hiroshi ,  NAWANO Masaaki

IPC: B60W40/06

CPC classification number: B60W40/068 ,  B60T8/172 ,  B60T2210/12 ,  B60W40/06 ,  B60W2520/26 ,  B60W2540/12

Abstract: A road surface friction coefficient estimating device includes a braking/driving force detecting section for detecting the braking/driving force of a wheel during traveling, a slip ratio detecting section for detecting the slip ratio of the wheel during traveling, and a road surface µ calculating section for estimating the relationship between the detected braking/driving force and the detected slip ratio on the basis of the ratio between the detected braking/driving force and the detected slip ratio, the correlation between the braking/driving force and the slip ratio in the case of the reference road surface, and at least either the detected braking/driving force or the detected slip ratio.

Abstract translation: 路面摩擦系数估计装置，包括：制动/驱动力，用于检测制动/行进，滑移率用于检测行驶期间所述车轮的滑移率检测部时驱动车轮的力检测部，以及路面μ计算 用于估计检测到的制动/驱动力和检测到的制动/驱动力和检测到的滑移率时，制动/驱动力，并在所述滑移率之间的相关性之间的比例的基础上检测到的滑移率之间的关系部 基准路面的情况下，并且至少所检测到的制动/驱动力或所检测到的滑移率。