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公开(公告)号：US08370019B2
公开(公告)日：2013-02-05
申请号：US12515573
申请日：2007-10-22
申请人： Ning Bian , Jens Fiedler , Celine Gamulescu , Andreas Mayer
发明人： Ning Bian , Jens Fiedler , Celine Gamulescu , Andreas Mayer
IPC分类号： G06F17/10
CPC分类号： B60T8/172 , B60T2210/12 , B60T2230/02
摘要： A friction coefficient between at least one tire of a motor vehicle and a roadway is estimated recursively. A kingpin inclination angle is detected or measured. A model determines a lateral friction value by defining a functional correlation between that value and the angle such that a non-linear course of that value relative to the angle is dependant on an initial increase of that value relative to the angle and on a recursively determined estimated value of the friction coefficient. The initial increase is defined substantially independently from the recursively determined estimated value. In addition, a measurement variable of the driving dynamics is captured. Depending on the lateral friction value, the driving dynamics model variable is determined. Furthermore, a variance between the driving dynamics measurement variable and the driving dynamics model value is determined. The recursion when acquiring the estimated value includes that the estimated value is adjusted.
摘要翻译： 递归地估计机动车辆的至少一个轮胎和道路之间的摩擦系数。 检测或测量主销倾斜角度。 模型通过定义该值和角度之间的功能相关性来确定横向摩擦值，使得该值相对于角度的非线性过程取决于该值相对于角度的初始增加，并且依赖于递归确定 摩擦系数的估计值。 初始增加基本上独立于递归确定的估计值来定义。 此外，捕获驾驶动态的测量变量。 根据横向摩擦值，确定驾驶动力学模型变量。 此外，确定驾驶动态测量变量与驾驶动力学模型值之间的差异。 获取估计值时的递归包括估计值被调整。
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公开(公告)号：US20100145566A1
公开(公告)日：2010-06-10
申请号：US12515573
申请日：2007-10-22
申请人： Ning Bian , Jens Fiedler , Celine Gamulescu , Andereas Mayer
发明人： Ning Bian , Jens Fiedler , Celine Gamulescu , Andereas Mayer
CPC分类号： B60T8/172 , B60T2210/12 , B60T2230/02
摘要： A friction coefficient between at least one tire of a motor vehicle and a roadway is estimated recursively. A kingpin inclination angle is detected or measured. A model determines a lateral friction value by defining a functional correlation between that value and the angle such that a non-linear course of that value relative to the angle is dependant on an initial increase of that value relative to the angle and on a recursively determined estimated value of the friction coefficient. The initial increase is defined substantially independently from the recursively determined estimated value. In addition, a measurement variable of the driving dynamics is captured. Depending on the lateral friction value, the driving dynamics model variable is determined. Furthermore, a variance between the driving dynamics measurement variable and the driving dynamics model value is determined. The recursion when acquiring the estimated value includes that the estimated value is adjusted.
摘要翻译： 递归地估计机动车辆的至少一个轮胎和道路之间的摩擦系数。 检测或测量主销倾斜角度。 模型通过定义该值和角度之间的功能相关性来确定横向摩擦值，使得该值相对于角度的非线性过程取决于该值相对于角度的初始增加，并且依赖于递归确定 摩擦系数的估计值。 初始增加基本上独立于递归确定的估计值来定义。 此外，捕获驾驶动态的测量变量。 根据横向摩擦值，确定驾驶动力学模型变量。 此外，确定驾驶动态测量变量与驾驶动力学模型值之间的差异。 获取估计值时的递归包括估计值被调整。
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3.发明授权公开(公告)号：US08392102B2
公开(公告)日：2013-03-05
申请号：US12442653
申请日：2007-05-25
申请人： Jens Fiedler , Rainer Marstaller , Andreas Mayer
发明人： Jens Fiedler , Rainer Marstaller , Andreas Mayer
CPC分类号： B60T8/172 , B60G17/019 , B60G2400/0523 , B60G2400/0533 , B60G2400/104 , B60G2400/63 , B60G2600/1873 , B60G2800/012 , B60G2800/24 , B60G2800/702 , B60G2800/9124 , B60T2230/03 , B60W2030/043 , B60W2040/1315 , B60W2520/18 , G01M1/122
摘要： In a method for estimating the height of the center of gravity of a vehicle, a lateral acceleration is determined. Predefined first and second driving situation are detected at a first time as a function of a determined roll rate or of a determined roll angle and at a second time as a function of the roll rate or of the roll angle. In a time period delimited by the first and second times, a differential angle by which a vehicle body tilts during the time period is determined. Also determined are an angular speed: formula and an angular acceleration: formula of the vehicle tilting movement in the time period. A height of the center of gravity of the vehicle is estimated on the basis of an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed: formula and of the angular acceleration: formula.
摘要翻译： 在用于估计车辆重心高度的方法中，确定横向加速度。 作为所确定的滚动速度或确定的滚动角度的函数，并且作为滚动速度或滚动角度的函数的第二时间，首先检测预定义的第一和第二驾驶状况。 在由第一次和第二次限定的时间段中，确定车身在该时间段期间倾斜的差角。 还确定了一个角速度：公式和角加速度：在该时间段内车辆倾斜运动的公式。 基于作为角速度的公式和角加速度的公式的差速角的横向加速度的函数的运动方程来估计车辆的重心高度。
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4.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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5.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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6.发明申请公开(公告)号：US20100036597A1
公开(公告)日：2010-02-11
申请号：US12442653
申请日：2007-05-25
申请人： Jens Fiedler , Rainer Marstaller , Andreas Mayer
发明人： Jens Fiedler , Rainer Marstaller , Andreas Mayer
CPC分类号： B60T8/172 , B60G17/019 , B60G2400/0523 , B60G2400/0533 , B60G2400/104 , B60G2400/63 , B60G2600/1873 , B60G2800/012 , B60G2800/24 , B60G2800/702 , B60G2800/9124 , B60T2230/03 , B60W2030/043 , B60W2040/1315 , B60W2520/18 , G01M1/122
摘要： In a method for estimating the height of the center of gravity of a vehicle, a lateral acceleration is determined. Predefined first and second driving situation are detected at a first time as a function of a determined roll rate or of a determined roll angle and at a second time as a function of the roll rate or of the roll angle. In a time period delimited by the first and second times, a differential angle by which a vehicle body tilts during the time period is determined. Also determined are an angular speed: formula and an angular acceleration: formula of the vehicle tilting movement in the time period. A height of the center of gravity of the vehicle is estimated on the basis of an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed: formula and of the angular acceleration: formula.
摘要翻译： 在用于估计车辆重心高度的方法中，确定横向加速度。 作为所确定的滚动速度或确定的滚动角度的函数，并且作为滚动速度或滚动角度的函数的第二时间，首先检测预定义的第一和第二驾驶状况。 在由第一次和第二次限定的时间段中，确定车身在该时间段期间倾斜的差角。 还确定了一个角速度：公式和角加速度：在该时间段内车辆倾斜运动的公式。 基于作为角速度的公式和角加速度的公式的差速角的横向加速度的函数的运动方程来估计车辆的重心高度。
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7.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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8.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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9.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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10.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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