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公开(公告)号：US08437907B2
公开(公告)日：2013-05-07
申请号：US12517688
申请日：2007-10-31
申请人： Ning Bian , Celine Gamulescu , Andreas Mayer , Thomas Schweiger
发明人： Ning Bian , Celine Gamulescu , Andreas Mayer , Thomas Schweiger
IPC分类号： G01M17/00 , B60G17/018 , A01B69/00 , G06F7/70 , G06F19/00 , B60T7/12 , B60T7/16 , B62D1/24 , B60K28/16
CPC分类号： B60T8/172 , B60T2210/12
摘要： In a method for determining a roadway state (STATE) of a roadway on which a vehicle (10) is travelling which has at least one wheel (14) and an acceleration sensor (24) which is assigned to the wheel (14), in order to determine a vertical component of an acceleration of the wheel (14), a characteristic value which is representative of the roadway state (STATE) is determined as a function of a measured signal (AC_VERT) of the acceleration sensor (18).
摘要翻译： 在确定车辆（10）正在行驶的道路状态（STATE）的方法中，车道（10）具有至少一个车轮（14）和分配给车轮（14）的加速度传感器（24），其中 为了确定车轮（14）的加速度的垂直分量，根据加速度传感器（18）的测量信号（AC_VERT）确定代表道路状态（STATE）的特征值。
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公开(公告)号：US20100145567A1
公开(公告)日：2010-06-10
申请号：US12517688
申请日：2007-10-31
申请人： Ning Bian , Celine Gamulescu , Andreas Mayer , Thomas Schweiger
发明人： Ning Bian , Celine Gamulescu , Andreas Mayer , Thomas Schweiger
IPC分类号： G06F7/00
CPC分类号： B60T8/172 , B60T2210/12
摘要： The invention relates to a method for determining a roadway state (STATE) of a roadway on which a vehicle (10) is travelling which has at least one wheel (14) and an acceleration sensor (24) which is assigned to the wheel (14) in order to determine a vertical component of an acceleration of the wheel (14), in which method—a characteristic value which is representative of the roadway state (STATE) is determined as a function of a measured signal (AC_VERT) of the acceleration sensor (18).
摘要翻译： 本发明涉及一种用于确定车辆（10）行进的道路状态（STATE）的方法，车道（10）具有至少一个车轮（14）和分配给车轮（14）的加速度传感器（24） ），以便确定所述车轮（14）的加速度的垂直分量，其中所述方法 - 表示所述道路状态（STATE）的特征值被确定为所述加速度的测量信号（AC_VERT）的函数 传感器（18）。
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3.发明申请公开(公告)号：US20070078593A1
公开(公告)日：2007-04-05
申请号：US10596363
申请日：2004-11-24
IPC分类号： G06F17/10
CPC分类号： B60G17/019 , B60G2400/0521 , B60G2400/0522 , B60G2400/0523 , B60G2400/102 , B60G2400/104 , B60G2400/106 , B60G2400/61 , B60G2800/702 , B60T2230/03 , B60T2240/06 , G01G19/086
摘要： For determination of dynamic axle and/or wheel loads of a wheel vehicle (20), wherein for said wheel vehicle (20), at least two linear transversally oriented with respect to each other accelerations and three rotation rates of a rotation movement around the coordinate axis of the vehicle (20) or of the component of the coordinate axis are respectively measured by a measuring device (1). The three coordinate axes extend transversally with respect to each other and at least one axle load and/or wheel load of the wheel vehicle (20) are determined by means of at least two linear accelerations and three rotation rates with the aid of evaluation device (9).
摘要翻译： 用于确定车轮（20）的动态车轴和/或车轮负载，其中对于所述车轮（20），至少两个线性相对于彼此横向取向加速度和围绕坐标的旋转运动的三个旋转速率 车辆（20）的轴线或坐标轴的分量的轴线分别由测量装置（1）测量。 三个坐标轴相对于彼此横向延伸，并且借助于评估装置（至少两个线性加速度和三个旋转速率）来确定车轮（20）的至少一个轴负载和/或轮负载 9）。
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4.发明申请公开(公告)号：US20070067112A1
公开(公告)日：2007-03-22
申请号：US10596368
申请日：2004-10-29
IPC分类号： G01B3/00
CPC分类号： B60G17/016 , B60G2400/202 , B60G2400/63 , B60G2400/954 , B60G2500/30 , B60G2600/1873 , B60G2800/012 , B60G2800/014 , B60G2800/912 , B60G2800/914
摘要： For determination of a relative movement of a chassis and a body of a wheeled vehicle, which is movably joined to the chassis, three linear accelerations of the wheeled vehicle, which extend perpendicular to each other, respectively, as well as at least two rotational speeds of one respective rotational movement or a component of a rotational movement about a coordinate axis of the wheeled vehicle are measured (in measuring device 1), the at least two coordinate axes running perpendicular to each other, respectively. A momentary position of the relative movement is determined (in evaluation unit 9) using the three linear accelerations and the at least two rotational rates.
摘要翻译： 为了确定可移动地连接到底盘的轮式车辆的底盘和车身的相对运动，分别相互垂直延伸的轮式车辆的三个线性加速度以及至少两个转速 测量一个相应的旋转运动或围绕轮式车辆的坐标轴的旋转运动的分量（在测量装置1中），所述至少两个坐标轴分别垂直运动。 使用三线性加速度和至少两个旋转速率来确定相对运动的瞬时位置（在评估单元9中）。
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5.发明授权公开(公告)号：US07340368B2
公开(公告)日：2008-03-04
申请号：US10596363
申请日：2004-11-24
CPC分类号： B60G17/019 , B60G2400/0521 , B60G2400/0522 , B60G2400/0523 , B60G2400/102 , B60G2400/104 , B60G2400/106 , B60G2400/61 , B60G2800/702 , B60T2230/03 , B60T2240/06 , G01G19/086
摘要： For determination of dynamic axle and/or wheel loads of a wheel vehicle (20), wherein for said wheel vehicle (20), at least two linear transversally oriented with respect to each other accelerations and three rotation rates of a rotation movement around the coordinate axis of the vehicle (20) or of the component of the coordinate axis are respectively measured by a measuring device (1). The three coordinate axes extend transversally with respect to each other and at least one axle load and/or wheel load of the wheel vehicle (20) are determined by means of at least two linear accelerations and three rotation rates with the aid of evaluation device (9).
摘要翻译： 用于确定车轮（20）的动态车轴和/或车轮负载，其中对于所述车轮（20），至少两个线性相对于彼此横向取向加速度和围绕坐标的旋转运动的三个旋转速率 通过测量装置（1）分别测量车辆（20）的轴线或坐标轴的分量。 三个坐标轴相对于彼此横向延伸，并且借助于评估装置（至少两个线性加速度和三个旋转速率）来确定车轮（20）的至少一个轴负载和/或轮负载 9）。
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6.发明授权Method and arrangement for monitoring a measuring device located in a wheeled vehicle 有权用于监测位于轮式车辆中的测量装置的方法和装置公开(公告)号：US07522985B2
公开(公告)日：2009-04-21
申请号：US10596365
申请日：2004-10-28
IPC分类号： G06F19/00
CPC分类号： B60R21/0132 , B60R2021/0119 , B60R2021/01327 , B60T8/885 , B60T2210/22 , B60T2250/06 , B60T2270/413 , B60W2050/0215 , B60W2520/14 , B60W2520/16 , B60W2520/18 , B60W2720/16 , B60W2720/18 , G01C21/16
摘要： For monitoring of a measuring device (1), located in a wheeled vehicle, the measuring device (1) is configured so as to measure three linear accelerations (in unit 3) of the wheeled vehicle, which extend perpendicular to each other, respectively, as well as three rotational speeds (in unit 4) and one respective rotational movement or a component of a rotational movement about an axis of the wheeled vehicle, the three axes running perpendicular to each other, respectively. At least components of an orientation of the wheeled vehicle in a vehicle-external coordinate system are determined (in unit 7) from the three rotational speeds, and at least one of the measured linear accelerations is monitored (in unit 9) using at least the components of the orientation and a comparative variable (from unit 8).
摘要翻译： 为了监测位于轮式车辆中的测量装置（1），测量装置（1）被配置成测量分别垂直延伸的轮式车辆的三个线性加速度（单元3） 以及三个旋转速度（单元4）和一个相应的旋转运动或围绕轮式车辆的轴线的旋转运动的分量，三个轴线分别垂直运动。 车辆 - 外部坐标系中的轮式车辆的取向的至少部件从三个转速确定（单元7），并且至少一个测量的线性加速度被监视（以单元9），至少使用 方向的分量和比较变量（来自单元8）。
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7.发明授权Method for determining and correcting incorrect orientations and offsets of the sensors of an inertial measurement unit in a land vehicle 失效用于确定和校正陆上车辆中惯性测量单元的传感器的不正确取向和偏移的方法公开(公告)号：US08065104B2
公开(公告)日：2011-11-22
申请号：US11995074
申请日：2006-05-11
CPC分类号： G01C21/16 , G01C25/005 , G01P15/18 , G01P21/00
摘要： An inertial measurement unit (IMU) contains three linear acceleration sensors and three rotational speed sensors. For the sensors there are desired installation directions parallel to the co-ordinate axes of a Cartesian co-ordinate system which is fixed to the vehicle. The actual installation directions of the sensors may differ from the desired installation directions owing to incorrect orientations. By comparing accelerations which are measured by the linear acceleration sensors for different attitudes of the vehicle with acceleration values which are known for these different attitudes in the Cartesian co-ordinate system which is fixed to the vehicle, the actual installation directions of the linear acceleration sensors are determined. By using a co-ordinate transformation it is then possible to convert the measured accelerations into the actual accelerations.
摘要翻译： 惯性测量单元（IMU）包含三个线性加速度传感器和三个转速传感器。 对于传感器，需要平行于固定在车辆上的笛卡尔坐标系的坐标轴的安装方向。 由于不正确的方向，传感器的实际安装方向可能与所需的安装方向不同。 通过比较通过线性加速度传感器对车辆的不同态度测量的加速度与在固定到车辆的笛卡尔坐标系中对于这些不同姿态已知的加速度值，线性加速度传感器的实际安装方向 确定。 通过使用坐标变换，可以将测得的加速度转换为实际的加速度。
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8.发明授权公开(公告)号：US08024086B2
公开(公告)日：2011-09-20
申请号：US10596368
申请日：2004-10-29
IPC分类号： B60G17/018
CPC分类号： B60G17/016 , B60G2400/202 , B60G2400/63 , B60G2400/954 , B60G2500/30 , B60G2600/1873 , B60G2800/012 , B60G2800/014 , B60G2800/912 , B60G2800/914
摘要： For determination of a relative movement of a chassis and a body of a wheeled vehicle, which is movably joined to the chassis, three linear accelerations of the wheeled vehicle, which extend perpendicular to each other, respectively, as well as at least two rotational speeds of one respective rotational movement or a component of a rotational movement about a coordinate axis of the wheeled vehicle are measured (in measuring device 1), the at least two coordinate axes running perpendicular to each other, respectively. A momentary position of the relative movement is determined (in evaluation unit 9) using the three linear accelerations and the at least two rotational rates.
摘要翻译： 为了确定可移动地连接到底盘的轮式车辆的底盘和车身的相对运动，分别相互垂直延伸的轮式车辆的三个线性加速度以及至少两个转速 测量一个相应的旋转运动或围绕轮式车辆的坐标轴的旋转运动的分量（在测量装置1中），所述至少两个坐标轴分别垂直运动。 使用三线性加速度和至少两个旋转速率来确定相对运动的瞬时位置（在评估单元9中）。
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9.发明申请公开(公告)号：US20080208501A1
公开(公告)日：2008-08-28
申请号：US11995074
申请日：2006-05-11
IPC分类号： G06F19/00
CPC分类号： G01C21/16 , G01C25/005 , G01P15/18 , G01P21/00
摘要： An inertial measurement unit (IMU) contains three linear acceleration sensors and three rotational speed sensors. For the sensors there are desired installation directions parallel to the co-ordinate axes of a Cartesian co-ordinate system which is fixed to the vehicle. The actual installation directions of the sensors may differ from the desired installation directions owing to incorrect orientations. By comparing accelerations which are measured by the linear acceleration sensors for different attitudes of the vehicle with acceleration values which are known for these different attitudes in the Cartesian co-ordinate system which is fixed to the vehicle, the actual installation directions of the linear acceleration sensors are determined. By using a co-ordinate transformation it is then possible to convert the measured accelerations into the actual accelerations.
摘要翻译： 惯性测量单元（IMU）包含三个线性加速度传感器和三个转速传感器。 对于传感器，需要平行于固定在车辆上的笛卡尔坐标系的坐标轴的安装方向。 由于不正确的方向，传感器的实际安装方向可能与所需的安装方向不同。 通过比较通过线性加速度传感器对车辆的不同态度测量的加速度与在固定到车辆的笛卡尔坐标系中对于这些不同姿态已知的加速度值，线性加速度传感器的实际安装方向 确定。 通过使用坐标变换，可以将测得的加速度转换为实际的加速度。
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10.发明申请Method and arrangement for monitoring a measuring device located in a wheeled vehicle 有权用于监测位于轮式车辆中的测量装置的方法和装置公开(公告)号：US20070179735A1
公开(公告)日：2007-08-02
申请号：US10596365
申请日：2004-10-28
IPC分类号： G01C17/00
CPC分类号： B60R21/0132 , B60R2021/0119 , B60R2021/01327 , B60T8/885 , B60T2210/22 , B60T2250/06 , B60T2270/413 , B60W2050/0215 , B60W2520/14 , B60W2520/16 , B60W2520/18 , B60W2720/16 , B60W2720/18 , G01C21/16
摘要： For monitoring of a measuring device (1), located in a wheeled vehicle, the measuring device (1) is configured so as to measure three linear accelerations (in unit 3) of the wheeled vehicle, which extend perpendicular to each other, respectively, as well as three rotational speeds (in unit 4) and one respective rotational movement or a component of a rotational movement about an axis of the wheeled vehicle, the three axes running perpendicular to each other, respectively. At least components of an orientation of the wheeled vehicle in a vehicle-external coordinate system are determined (in unit 7) from the three rotational speeds, and at least one of the measured linear accelerations is monitored (in unit 9) using at least the components of the orientation and a comparative variable (from unit 8).
摘要翻译： 为了监测位于轮式车辆中的测量装置（1），测量装置（1）被配置成测量分别垂直延伸的轮式车辆的三个线性加速度（单元3） 以及三个旋转速度（单元4）和一个相应的旋转运动或围绕轮式车辆的轴线的旋转运动的分量，三个轴线分别垂直运动。 车辆 - 外部坐标系中的轮式车辆的取向的至少部件从三个转速确定（单元7），并且至少一个测量的线性加速度被监视（以单元9），至少使用 方向的分量和比较变量（来自单元8）。
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