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    Apparatus and method for determining the yaw rate of a vehicle
    4.
    发明公开
    Apparatus and method for determining the yaw rate of a vehicle 失效
    Verfahren und Vorrichtung zur Ermittlung der Giergeschwindigkeit eines Fahrzeugs

    公开(公告)号：EP0711699A3

    公开(公告)日：1997-07-16

    申请号：EP95116814.5

    申请日：1995-10-25

    申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

    发明人： Uehara, Yasuo, c/o Toyota Jidosha K. K.

    IPC分类号： B62D7/15 ,  B62D15/02

    CPC分类号： B60W40/11 ,  B60T8/172 ,  B60T2250/03 ,  B60W30/02 ,  B60W40/112 ,  B60W40/114 ,  B60W2050/0055 ,  B60W2050/0056 ,  B60W2520/14 ,  B62D6/005 ,  B62D6/04 ,  B62D7/159

    摘要： The apparatus and method of the present invention improves precision of measuring a yaw rate by mutually making up for a drawback of a yaw rate sensor for directly measuring the yaw rate and a drawback of a structure for estimating the yaw rate. An estimated yaw rate operation element (51) gives an estimated yaw rate γe based on a steering angle θf of front wheels, a vehicle speed V, a left front wheel speed vFL, and a right front wheel speed vFR measured by respective sensors (41-47). A low-pass filter (53) eliminates a high frequency component included in the signal of estimated yaw rate γe, while a high-pass filter (55) eliminates a low frequency component included in a signal of measured yaw rate gs measured by a yaw rate sensor (49). An adder (57) compounds an output signal of the low-pass filter (53) with an output signal of the high-pass filter (55). A resulting yaw rate output from the adder (57) includes a component of the estimated yaw rate γe in a low frequency domain where the yaw rate sensor has large or serious measurement errors due to a zero-point drift or the like, and a component of the measured yaw rate gs in a high frequency domain where the estimated yaw rate has large or serious estimation errors.

    摘要翻译： 本发明的装置和方法通过相互弥补用于直接测量横摆率的横摆率传感器的缺点和用于估计偏航率的结构的缺点来提高横摆率测量的精度。 估计的横摆率操作元件（51）基于相应的前轮测量的前轮的转向角度θ，车速V，左前轮速度vFL和右前轮速度vFR，给出估计的横摆角速度γe 传感器（41-47）。 低通滤波器（53）消除包括在估计的偏航率γe的信号中的高频分量，而高通滤波器（55）消除包括在测量的横摆率gs的信号中的低频分量 偏航率传感器（49）。 加法器（57）将低通滤波器（53）的输出信号与高通滤波器（55）的输出信号相结合。 从加法器（57）输出的偏航率由偏移率传感器由于零点漂移等引起的测量误差大或严重的低频域中的估计横摆角速度γe的分量， 在估计的横摆率具有大的或严重的估计误差的高频域中测得的偏航率gs的分量。

    Apparatus and method for determining the yaw rate of a vehicle
    7.
    发明公开
    Apparatus and method for determining the yaw rate of a vehicle 失效
    一种用于确定车辆的横摆率的方法和装置

    公开(公告)号：EP0711699A2

    公开(公告)日：1996-05-15

    申请号：EP95116814.5

    申请日：1995-10-25

    申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

    发明人： Uehara, Yasuo, c/o Toyota Jidosha K. K.

    IPC分类号： B62D7/15 ,  B62D15/02

    CPC分类号： B60W40/11 ,  B60T8/172 ,  B60T2250/03 ,  B60W30/02 ,  B60W40/112 ,  B60W40/114 ,  B60W2050/0055 ,  B60W2050/0056 ,  B60W2520/14 ,  B62D6/005 ,  B62D6/04 ,  B62D7/159

    摘要： The apparatus and method of the present invention improves precision of measuring a yaw rate by mutually making up for a drawback of a yaw rate sensor for directly measuring the yaw rate and a drawback of a structure for estimating the yaw rate. An estimated yaw rate operation element (51) gives an estimated yaw rate γe based on a steering angle θf of front wheels, a vehicle speed V, a left front wheel speed vFL, and a right front wheel speed vFR measured by respective sensors (41-47). A low-pass filter (53) eliminates a high frequency component included in the signal of estimated yaw rate γe, while a high-pass filter (55) eliminates a low frequency component included in a signal of measured yaw rate gs measured by a yaw rate sensor (49). An adder (57) compounds an output signal of the low-pass filter (53) with an output signal of the high-pass filter (55). A resulting yaw rate output from the adder (57) includes a component of the estimated yaw rate γe in a low frequency domain where the yaw rate sensor has large or serious measurement errors due to a zero-point drift or the like, and a component of the measured yaw rate gs in a high frequency domain where the estimated yaw rate has large or serious estimation errors.

    DEVICE FOR THE DETECTION OF THE ATTITUDE OF MOTOR VEHICLES AND CORRESPONDING METHOD
    9.
    发明公开
    DEVICE FOR THE DETECTION OF THE ATTITUDE OF MOTOR VEHICLES AND CORRESPONDING METHOD 审中-公开
    VORRICHTUNG ZUM DEKTEKTIEREN DER LAGE VON KRAFTFEHRZEUGEN UND ENTSPRECHENDS VERFAHREN

    公开(公告)号：EP3018030A1

    公开(公告)日：2016-05-11

    申请号：EP15193132.6

    申请日：2015-11-05

    申请人： Magneti Marelli S.p.A.

    发明人： PESCIAROLO, Alessandro ,  SPINELLA, Giuseppe ,  ARMENI, Saverio

    IPC分类号： B60W40/10 ,  G01C21/16 ,  G01S19/53 ,  B60W50/00 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114

    CPC分类号： G01C21/16 ,  B60W40/10 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W2050/0055 ,  B60W2050/0056 ,  G01S19/49 ,  G01S19/53

    摘要： Described herein is a device for detecting the attitude of motor vehicles, which comprises using at least one filter of a complementary type for computing an estimate (x̂ i ) of angles of attitude (θ, ϕ, ψ) of the motor vehicle as a function of input signals comprising an acceleration signal (A) and an angular-velocity signal (ω). According to the invention, the device (10) comprises a plurality of complementary filters (12 1 , ..., 12 n ), each tuned for operating in a specific dynamic range, and a supervisor unit (11), configured for recognising the dynamic range of the input signals (A, ω) and selecting a corresponding filter (12 i ) from said plurality of complementary filters (12 1 , ..., 12 n ).

    摘要翻译： 这里描述了用于检测机动车辆的姿态的装置，其包括使用互补型的至少一个滤波器来计算机动车辆的姿态（¸，Õ，È）的估计（xi），作为 包括加速度信号（A）和角速度信号（É）的输入信号。 根据本发明，设备（10）包括多个互补过滤器（12 1，...，12 n），每个互补过滤器被调整以在特定动态范围内操作，以及监督单元（11），被配置为识别 输入信号（A，É）的动态范围，并从所述多个互补滤波器（12 1，...，12 n）中选择相应的滤波器（12i）。

    VEHICLE TURN CHARACTERISTICS ESTIMATION APPARATUS
    10.
    发明公开
    VEHICLE TURN CHARACTERISTICS ESTIMATION APPARATUS 审中-公开
    装置用于估计ABBIEGEEIGENSCHAFTEN于车辆

    公开(公告)号：EP2818378A4

    公开(公告)日：2016-04-27

    申请号：EP12869243

    申请日：2012-02-24

    申请人： TOYOTA MOTOR CO LTD

    发明人： YOKOTA TAKAHIRO

    IPC分类号： B60W40/12 ,  B60T8/1755 ,  B60W30/045 ,  B60W30/18 ,  B60W40/114

    CPC分类号： B60W30/045 ,  B60T8/17551 ,  B60W30/02 ,  B60W30/18145 ,  B60W40/114 ,  B60W40/12 ,  B60W2050/0055 ,  B60W2520/14

    摘要： A turning-characteristic estimating unit 11 of an ECU 1 estimates a stability factor Kh and a steering-response time constant coefficient Tp that are parameter values related to turning characteristics of a vehicle 10. A standard yaw rate YrStd of the vehicle 10 is calculated using the estimation values of the stability factor Kh and the steering-response time constant coefficient Tp estimated by the turning-characteristic estimating unit 11. A validity determining unit 12 of the ECU 1 determines the validity of the estimation values based on the standard yaw rate YrStd and an actual yaw rate Yr of the vehicle 10. This allows improving the estimation accuracy of the stability factor Kh and the steering-response time constant coefficient Tp.