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EP2795361A2 - Procédés et dispositifs pour reconnaître et pallier les problèmes liés au chargement d'un véhicule - Google Patents

Procédés et dispositifs pour reconnaître et pallier les problèmes liés au chargement d'un véhicule

Info

Publication number
EP2795361A2
EP2795361A2 EP12809132.9A EP12809132A EP2795361A2 EP 2795361 A2 EP2795361 A2 EP 2795361A2 EP 12809132 A EP12809132 A EP 12809132A EP 2795361 A2 EP2795361 A2 EP 2795361A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
sensor
load
acceleration
mass
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12809132.9A
Other languages
German (de)
English (en)
Inventor
Ulrich Klee
Frank Suessenbach
Christian Hoffmann
Marcus Schneider
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2795361A2 publication Critical patent/EP2795361A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C5/00—Inflatable pneumatic tyres or inner tubes
    • B60C5/004—Inflatable pneumatic tyres or inner tubes filled at least partially with liquid
    • B60C5/005—Ballast tyres
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G01G19/086—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles wherein the vehicle mass is dynamically estimated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/872—Combination of several systems for attitude determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves

Definitions

  • the present invention relates to methods and apparatus for detecting and correcting problems associated with loading a vehicle. It can be an excessive
  • the cargo space for the payload can have a significant volume, so that the possible payload mass is not negligible compared to the vehicle blank.
  • vehicle functions and operating parameters can change so drastically that restrictions in terms of function as well as operational safety can go hand in hand.
  • a load condition can also be a problem for sensors installed in the vehicle.
  • devices are known in the art, for example, on the
  • a known method for determining a payload mass and / or a total vehicle mass of a vehicle is described below. The Method is used to determine a payload mass and / or a
  • Total vehicle mass of a vehicle comprising the steps of determining a drive torque when accelerating and / or determining a braking torque during deceleration, and determining the
  • a "payload mass” should generally be understood as meaning that mass which increases its total weight by introducing material into the vehicle Engine or other components, or alternatively or additionally
  • Operating parameters are e.g. for the engine, transmission and
  • the method includes a step of determining vehicle acceleration
  • Vehicle deceleration The aforementioned data are also determined in modern vehicles anyway and held in digital form (for example, for the on-board computer or travel planning).
  • the method now proposes to determine the total vehicle mass from the drive torque or the braking torque in conjunction with the determined vehicle acceleration or deceleration on the basis of known physical relationships. This can be done by an evaluation unit with regard to the maximum permissible
  • Storage devices are withdrawn and subtracted from the determined total vehicle mass to determine the actual load of the vehicle and also to compare with stored in memory reference values.
  • the method provides a simple possibility, by means of existing sensors information about the current
  • Total vehicle mass or the payload of a vehicle to obtain.
  • an alternative method for determining a payload mass and / or a total vehicle mass of a vehicle is proposed. This has the features according to claim 16. Accordingly, a time-varying portion of a signal of a
  • the acceleration sensor may be, for example, that of a system for electronic stability control of the vehicle.
  • the longitudinal acceleration of the vehicle is not determined, but instead, swaying and / or pitching movements, which the vehicle makes possible by its suspension suspension, are detected and using a stiffness value for the vehicle suspension, in particular also using the associated damping of the vehicle suspension. used to determine the mass of the vehicle. It is known that the frequency with which a spring-mass system oscillates, by the oscillating mass as well as the (known)
  • Vibration form a detectable via the acceleration sensors in the vehicle frequency with which the vehicle and its payload oscillates or seeks a state of rest.
  • the method according to the invention proposes, in particular automatically, to perform a braking intervention, by means of which a vibration of the vehicle is provoked.
  • a method for determining a non-uniform mass distribution of a load of a vehicle having the features according to claim 14 is proposed.
  • an uneven mass distribution of a load of a vehicle is to be understood in particular to mean one such, by which such different spring travel of the Chassis suspension revealed that a significant tilt of the vehicle is the result. To determine this tilt suggests the
  • Accelerometer which is also used for other purposes (e.g.
  • ESP electronic stability program
  • Transverse acceleration signals generated solely due to the inclination of the vehicle For this purpose, the signals of the acceleration sensor over a predefined period of time can be averaged to a temporary
  • Slope for example, by driving over an object or an inclined road section not to recognize as an uneven mass distribution of the load of the vehicle.
  • Slope for example, by driving over an object or an inclined road section not to recognize as an uneven mass distribution of the load of the vehicle.
  • Slope can be averaged over a predefined route of the vehicle, what a
  • Acceleration sensor at a certain time, but in particular at several times, recorded, averaged and evaluated.
  • the determined longitudinal or lateral acceleration values may be examined as to whether they are below a predetermined maximum limit value which has been defined for a maximum, possible misalignment of the vehicle. This way you can
  • a device for determining a non-uniform mass distribution of a load of a vehicle which comprises an evaluation unit. This is set up to evaluate signals of an acceleration sensor arranged in the vehicle and to carry out the method steps as discussed in connection with the method explained above.
  • the limit values for maximum inclinations achievable by incorrect loading can be called up by the evaluation unit from storage means, which are additionally provided in the
  • Satellite signals a height of an object to be located are determined, which of course also applies to changes in altitude over time.
  • the determined acceleration signals can thus on the basis of
  • Satellite navigation data are plausibilized as to whether they were determined during a climb or during a descent.
  • the determined acceleration sensor data despite the uphill or downhill to
  • asymmetrical load condition is understood to mean an unequal distribution of mass with respect to a vehicle's longitudinal axis extending in the direction of travel
  • an asymmetric unequal loading of the vehicle results in a tilt of the vehicle in the direction of the driver or passenger side
  • the invention proposes, by means of at least one sensor, a reflection from an area of the vehicle located next to the vehicle
  • Such a sensor may be, for example, an ultrasonic or radar sensor, but may also employ other principles of action (e.g., laser, lidar, etc.).
  • Such a sensor may of course also comprise a transmitter, by means of which it
  • the term "located next to the vehicle” is understood to mean, in particular, but not exclusively, a region situated on the left and right of the vehicle with respect to the direction of travel, so that also in front of or behind the vehicle
  • Vehicle-related areas are next to the vehicle.
  • the by means of the sensor recorded reflections of the road surface can be examined or evaluated in terms of their energy and / or running time, so that an angle in response to a load of the vehicle leads to an altered energy or distance profile.
  • an inclination of the vehicle recognizable by the method according to the invention, but also a "global" lowering of the vehicle due to a load by which the sensors arranged in the vehicle do not change their orientation with respect to the road surface, but approach it Vans affect the strong
  • Federweges can be seen that usual installation heights, for example, from sensors for parking assistance in the range between 45 cm and 65 cm above the roadway. The resulting signal differences due to the road reflections are therefore considerable and suitable for an evaluation of the loading state.
  • a device for recognizing and evaluating one, in particular asymmetric is provided.
  • the device comprises at least one sensor arranged on the vehicle, for which the comments made in connection with the method described above apply.
  • the device comprises an evaluation unit which is set up to evaluate the sensor signals.
  • the senor can be arranged in the region of a vehicle longitudinal side, where distance sensors are provided on vehicles, in particular for the purpose of so-called side-view assist systems (blind spot detection). These are in particular in the range of outside mirrors (especially in cars) or in the bumper or fenders (van, truck) arranged. Of course, however, too
  • Sensors of a parking assistance system or other collision protection systems may be arranged in the region of the vehicle longitudinal side. Alternatively, reflections can be received and evaluated by means of two sensors. With regard to a detection of an inclination of the vehicle, it is particularly suitable here for the sensors
  • the engine control can be influenced so that certain predefined maximum speeds can not be exceeded or any existing radar-based
  • Distance sensor means an extended braking distance, e.g. to the effect
  • Sensor signal is arranged by a reflective ambient object in the detection range of the sensor.
  • the sensor system includes a sensor that is configured, reflections from an adjacent to the vehicle area of the road surface at least in certain
  • the signal received from the sensor is influenced by the loading condition by increasing or decreasing reflections from the road surface.
  • the method according to the invention comprises a determination of a loading state of the vehicle, as has been described in particular in connection with the abovementioned aspects of the present invention.
  • the inventive method comprises an adaptation of
  • Calibration factors can be done.
  • the calibration factors can be kept in tabular form in the sensor system according to the invention, for example.
  • the sensor system proposed for a vehicle, by means of which the steps of the method described above can be performed.
  • the sensor system comprises an evaluation unit which is set up
  • Information about the loading state of the vehicle in particular to determine one of the methods described above or by means of one of the devices described above and to adapt an evaluation of signals from the sensor in response to the current load condition.
  • the senor to be calibrated according to the present invention may be a distance sensor, which in particular can be used as an ultrasonic and / or as an ultrasonic sensor
  • Radar sensor is formed.
  • the invention is not limited to these embodiments.
  • the sensors used in the present invention are can also be used and provided for other methods and devices in the vehicle.
  • a large part of the inventive aspects described above may be limited to an intelligent use of existing hardware in the vehicle for the stated purposes.
  • Figure 1 a is a side view of a substantially unloaded
  • Figure 3b is a schematic diagram of an inventively established
  • FIG. 4 a shows a sketch of a possible amplitude progression by means of two
  • FIG. 4b is a sketch of a possible amplitude progression by means of two
  • Figure 5 is a schematic overview of components of a
  • FIG. 6 shows a flow chart visualizing the steps of a
  • Embodiment of the method according to the invention Embodiments of the invention
  • FIG. 1 a shows a side view of a uniformly loaded vehicle 1.
  • the suspension of the chassis is moderately and evenly loaded, which can be referred to as "normal state” or adequate load distribution.
  • FIG. 1 b shows the vehicle 1 shown in FIG. 1 a, the rear of which has noticeably lowered relative to its front (see arrow). This is the
  • FIG. 2 shows a vehicle 1 with a (longitudinal) acceleration sensor 2.
  • the right-angled triangle shown below the vehicle makes it clear how an inclination of the vehicle results in a vehicle
  • Longitudinal acceleration sensor eg an ESP
  • a longitudinal acceleration A s determined, although the vehicle is at rest or in a uniform motion.
  • accelerating the vehicle may result in the illustrated acceleration components.
  • the longitudinal acceleration A s is due to the right-angled decomposition of gravity g into one
  • FIG. 3 a shows a vehicle 1 with a distance sensor 3 which contains a uniform or no substantial load. This is shown, on the one hand, by a vertical axis H parallel to the road normal, and a detection area 4 of the distance sensor 3, which is located above the
  • FIG. 3b shows the effect of an asymmetrical load distribution in the case of a right-handed loading of the vehicle 1.
  • the vertical axis H of the vehicle 1 is inclined relative to the road normal S to the right, whereby the Detection area 4 of the distance sensor 3 significantly collided with the road surface O. This would lead without correction to the distance sensor 3 reporting an object, although only the
  • FIG. 4a shows an amplitude profile over the distance to a left or right sensor, as could be received by the vehicle 1 in FIG. 3a. Since the vehicle has no inclined position, the amplitude characteristics of the sensor signals are also substantially symmetrical.
  • FIG. 4b shows the amplitude profile of sensor signals, as they are
  • FIG. 5 shows a schematic overview of components of a
  • the acceleration sensor can in this case be designed, for example, as a 3D acceleration sensor and thus both longitudinal and
  • the antenna 7 may be configured, for example, to receive satellite navigation signals.
  • the speaker 8 is representative of signaling means, which may also include a visual display.
  • reference values and map material can be stored, which or which can be used by the evaluation unit 6 in the course of evaluation of sensor signals and determination of a loading condition and adjustment or calibration of the distance sensors 3.
  • FIG. 6 shows a flow chart, visualizing steps of a
  • Embodiment of a method according to the invention starts, for example, by pressing the ignition or inserting one
  • step 100 sensor data is received, which may originate, for example, from the distance sensors 3 and the acceleration sensors 2.
  • step 200 the received sensor data are each compared with associated reference values.
  • Acceleration values for example, a plausibility check, whether the determined longitudinal or lateral acceleration at all by a
  • the reference values can represent, for example, the amplitude profile shown in FIG. 4a, with which the currently received sensor data are compared in order to detect an inclination.
  • a reference value can represent, for example, the amplitude profile shown in FIG. 4a, with which the currently received sensor data are compared in order to detect an inclination.
  • Difference formation of the signals of the distance sensors 3 take place in order to be able to determine the influence of an inclined position particularly well.
  • step 300 a check of the received signals of the distance sensors 3 takes place
  • step 400 based on the results of the
  • step 600 the distance sensors 3 are calibrated to the detected skew. In other words, the evaluation of the signals of the distance sensors 3 is modified so that the signals can then be evaluated as if the vehicle 1 were in a uniform or unloaded state.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

La présente invention concerne des procédés et des dispositifs pour reconnaître un état de chargement et pour pallier les problèmes qu'il est susceptible d'engendrer lors de l'évaluation faite par des capteurs (3) du véhicule. L'invention a pour objet des mesures à prendre pour reconnaître la masse totale (M) et/ou la masse supplémentaire (Mz) d'un véhicule (1), ainsi que pour détecter un chargement non homogène d'un véhicule (1), ainsi que d'éventuelles réactions se traduisant par une capacité de fonctionnement altérée par ce chargement, d'un capteur de distance (3) monté sur le véhicule (1). Pour ce dernier sont prévus des procédés d'adaptation.
EP12809132.9A 2011-12-22 2012-11-21 Procédés et dispositifs pour reconnaître et pallier les problèmes liés au chargement d'un véhicule Withdrawn EP2795361A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011089520A DE102011089520A1 (de) 2011-12-22 2011-12-22 Verfahren und Vorrichtungen zur Erkennung und Behebung von Problemen im Zusammenhang mit einer Fahrzeugbeladung
PCT/EP2012/073259 WO2013092090A2 (fr) 2011-12-22 2012-11-21 Procédés et dispositifs pour reconnaître et pallier les problèmes liés au chargement d'un véhicule

Publications (1)

Publication Number Publication Date
EP2795361A2 true EP2795361A2 (fr) 2014-10-29

Family

ID=47471700

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12809132.9A Withdrawn EP2795361A2 (fr) 2011-12-22 2012-11-21 Procédés et dispositifs pour reconnaître et pallier les problèmes liés au chargement d'un véhicule

Country Status (4)

Country Link
US (1) US9902201B2 (fr)
EP (1) EP2795361A2 (fr)
DE (1) DE102011089520A1 (fr)
WO (1) WO2013092090A2 (fr)

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US10132674B2 (en) * 2013-10-23 2018-11-20 National University Corporation Tokyo University Of Marine Science And Technology Loading weight detection device for weighing cargo of a mobile body
DE102014207628A1 (de) 2014-04-23 2015-10-29 Continental Teves Ag & Co. Ohg Verfahren zur Ermittlung eines Offsets eines Inertialsensors
GB2538806B (en) * 2015-05-29 2021-04-07 Sevcon Ltd Method and apparatus
DE102015011928A1 (de) * 2015-09-12 2017-03-16 Audi Ag Verfahren zum Betrieb eines Sicherheitssystems eines Kraftfahrzeugs und Kraftfahrzeug
US10114113B2 (en) * 2016-03-02 2018-10-30 Ford Global Technologies, Llc Ultrasound range correction
DE102019106253B4 (de) * 2019-03-12 2024-12-12 Valeo Schalter Und Sensoren Gmbh Ermitteln eines Abstands oder einer Orientierung einer Komponente eines Fahrzeugs bezüglich einer Referenzfläche
DE102020213870A1 (de) 2020-11-04 2022-05-05 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Erfassung eines Beladungszustands eines Fahrzeugs
DE102022214383A1 (de) 2022-12-23 2024-07-04 Siemens Mobility GmbH Bestimmung einer Personenzahl in einem Fahrzeug

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DE10127567A1 (de) * 2001-06-06 2002-12-12 Bpw Bergische Achsen Kg Verfahren zur Feststellung der Gewichtsbelastung einer gegenüber dem Fahrzeugaufbau gefederten, luftbereiften Fahrzeugachse
DE10323639A1 (de) * 2003-05-26 2004-12-16 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erfassung eines Objektes unter adaptiver Anpassung von Erfassungseigenschaften einer Erfassungseinrichtung
DE102006012246A1 (de) * 2005-03-17 2007-03-15 Continental Teves Ag & Co. Ohg Verfahren und Regelsystem zum Stabilisieren eines Fahrzeugs
DE102005025851B4 (de) * 2005-06-06 2014-08-21 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung einer Änderung einer Gewichtsverteilung in einem Fahrzeug
DE102008038615A1 (de) * 2007-09-18 2009-03-19 Continental Teves Ag & Co. Ohg Sensoreinrichtung und Verfahren zum Erfassen der Bewegung eines Fahrzeugs
EP2144081A1 (fr) * 2008-07-10 2010-01-13 Valeo Schalter und Sensoren GmbH Procédé et dispositif destinés à la commande de capteurs d'un système de surveillance d'environnement pour véhicules
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Also Published As

Publication number Publication date
WO2013092090A2 (fr) 2013-06-27
WO2013092090A3 (fr) 2013-09-12
US20150217688A1 (en) 2015-08-06
US9902201B2 (en) 2018-02-27
DE102011089520A1 (de) 2013-06-27

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