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CN111688671A - 用于控制机动车辆纵倾的方法和系统 - Google Patents

用于控制机动车辆纵倾的方法和系统 Download PDF

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CN111688671A
CN111688671A CN202010170365.4A CN202010170365A CN111688671A CN 111688671 A CN111688671 A CN 111688671A CN 202010170365 A CN202010170365 A CN 202010170365A CN 111688671 A CN111688671 A CN 111688671A
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vehicle
unevenness
road
monitoring
camera
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G.加比亚蒂
M.格里罗
M.叶鲁兹
P.P.帕拉维兹尼
N.波利奥
E.拉弗尼
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Centro Ricerche Fiat SCpA
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    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
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    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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    • B60W2552/35—Road bumpiness, e.g. potholes
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract

用于控制移动的机动车辆(A)的平衡的方法，通过车辆的加速和/或减速来校正该机动车辆在克服道路(R)的不平坦部(B)时的纵倾，加速和/或减速的值与不平坦部(B)的水平相关。通过监测移动的车辆前方的道路(R)来检测不平坦部(B)，并且基于这种监测来预测性地校正纵倾运动。

Description

用于控制机动车辆纵倾的方法和系统
技术领域
本发明总体上涉及对机动车辆的平衡的控制，并且更具体地，本发明涉及在克服道路的不平坦部时对移动的车辆所经受的纵倾运动的校正。
通常，不平坦部可以例如包括市区所谓的减速隆起或减速器，减速隆起或减速器包括横向于行驶方向设置的具有减速功能的隆起。其他不平坦部可以例如包括路基上的沟渠或者沿着未修筑道路甚至自然形成的凸部和凹部。
当行驶过这种不平坦部时，车辆，并更确切地是其悬挂质量，经受或多或少的突然和强烈的颠簸，这显然取决于关于道路表面和车辆前进速度的差异。
因此，希望能够补偿和减少车辆在这种情况下经受的纵倾运动，目的是提高车辆的乘员的舒适性。
背景技术
文献EP2808214 A1和EP2829424 A1揭示了根据纵倾以及其他不希望的运动来校正车辆的悬挂质量的平衡的解决方案。这些文献中提出的解决方案主要包括监测由于与道路不平坦部的碰撞而引起的车辆车轮的速度变化，并因此在车辆速度可能变化(加速或减速)和作用于减震器的阻尼部件的情况下校正悬挂质量的平衡，为此，减震器必须配备用于改变阻尼程度的特殊装置。
因此，考虑到平衡的校正在车辆车轮与道路不平坦部碰撞时发生，这种反应型的现有技术在获得几乎瞬时的校正方面因此存在功能上的困难。设定监测量的两个阈值，一个阈值小于另一个阈值:低于下阈值时，系统以发动机并因此车辆的加速做出反应，而高于上阈值时，系统以对车辆的制动做出反应。关于包含在下阈值与上阈值之间的值，系统通过改变减震器的阻尼效应来做出反应。因此，除了上述功能上的困难之外，还存在关于为车辆配备可变阻尼减震器的需要的进一步复杂化。
发明内容
本发明的目的是克服现有技术的缺点，并且提供一种用于在克服不平道路时控制机动车辆的纵倾运动的方法，该方法相对于已知的前述方法更简单，但同时不降低效率，不必需需要作用在减震器的阻尼部件上。
根据本发明的独特特征，用于控制移动的车辆平衡的方法在于，通过监测移动的车辆前方的道路来检测不平坦部轮廓，并且基于这种监测来预测性地校正纵倾运动，其中，当克服不平道路时，通过加速和/或减速来校正移动的车辆的纵倾运动。
根据本发明的方法的预测性控制而不是反应性控制的独特性使得平衡的控制显著地更容易并且同时非常有效。
根据本发明，该方法更详细地包括以下操作:
–为车辆配备前部摄像机，前部摄像机被配置为监测车辆的道路并用于检测该道路的不平坦部。
–处理摄像机拍摄的视频镜头，以确定检测到的不平坦部轮廓，并在基于车辆的前进速度的条件下估计车辆的纵倾水平。
–甚至在克服不平坦部之前，根据如此确定的轮廓和车辆速度，控制车辆的一系列加速和减速，以减少其纵倾运动。
本发明还涉及一种用于实施该方法的控制系统，该控制系统被配置成通过监测移动的车辆前方的道路来检测不平坦部，并基于这种监测来预测性地校正纵倾运动。
附图说明
现在将参照附图详细描述本发明，附图仅通过非限制性示例提供，其中:
图1是示出被配置用于实施根据本发明的方法的机动车辆的示意图，以及
图2是例示用于实施控制方法的系统部件的框图。
具体实施方式
如前所述，根据本发明的控制方法和系统的显著特征在于以下事实：当克服道路R的不平坦部B（通常是减速器）时，对机动车辆A的纵倾运动的校正是通过监测不平坦部的水平，通过估计车辆的预期纵倾，并因此通过一系列的加速和减速来预测性地校正，即通过仅作用于发动机并可能作用于车辆的制动系统进行，而不需要使用例如施加于车辆车轮的减震器的辅助装置。
为了监测不平坦部B，根据本发明，车辆A配备有摄像机C，摄像机C在前部定位或者定位在能够观察和拍摄移动的车辆的前方道路R的区域。
参考图2，在根据本发明的控制系统中，来自摄像机C的信号通过图像处理器P进行处理，以确定不平坦部特性，特别是在道路R的表面轮廓方面。处理器P可操作地连接到车辆A通常设置的控制单元U，进而连接到检测机动车辆前进速度的速度传感器S并且连接到发动机控制单元E以及连接到用于车辆A的车轮的制动系统控制单元F。
在使用中，通过由摄像机C拍摄的图像，处理器P估计不平坦部B的轮廓或几何形状以及根据车辆的前进速度预测的车辆A的纵倾水平。因此，控制单元U作用在发动机控制单元E上，并且可能作用在制动系统控制单元F上，以根据检测到的不平坦部轮廓B及车辆前进速度，甚至在克服不平坦部(B)之前，向机动车辆A施加一系列短暂的加速和/或减速或制动。一旦机动车辆A克服了不平坦部B，其就将因此根据不平坦部轮廓B经受一系列短暂且几乎瞬时的减速和加速。以这种方式，当克服了不平坦部B时，机动车辆A的纵倾运动被校正并减少一定的量，以确保机动车辆A的乘员在克服障碍物时具有更好的驾驶舒适性，障碍物例如是如前所述的减速隆起以及沟渠、自然的凹凸不平的口孔（porthole）、沿未修筑道路的颠簸的路径。在图1中分别表示为虚线和实线的线示意性地和定性地表示了分别在没有控制和在根据本发明操作控制的情况下机动车辆A在克服不平坦部B时的纵倾振荡。
显然，根据本发明的控制系统的构造细节和实施例可以相对于已经描述和示出的内容有很大的变化，而不脱离如以下权利要求所限定的本发明的保护范围。

Claims (6)

1.一种用于控制移动的机动车辆(A)的平衡的方法，通过车辆的加速和/或减速来校正所述机动车辆(A)在克服道路(R)的不平坦部(B)时的纵倾，所述加速和/或减速的值与所述不平坦部(B)的水平相关，其特征在于，通过监测移动的车辆前方的道路(R)来检测不平坦部轮廓，并且基于这种监测来预测性地校正纵倾运动。
2.根据权利要求1所述的方法，其特征在于，其包括以下操作:
–为车辆(A)配备摄像机(C)，所述摄像机被配置为监测道路(R)并检测此道路(R)的不平坦部(B)，
-处理由所述摄像机(C)拍摄的视频镜头，以确定检测到的不平坦部轮廓，并在基于车辆的前进速度(A)的条件下估计车辆的纵倾水平，
–甚至在克服不平坦部(B)之前，根据如此确定的斜度和车辆的速度，控制车辆(A)的一系列加速和/或减速，以减轻车辆的纵倾。
3.根据权利要求1或2所述的方法，其特征在于，车辆(A)基于不平坦部轮廓(B)被减速或加速。
4. 一种用于在通过车辆的加速和/或减速克服道路(R)的不平坦部(B)时监测移动的机动车辆(A)的平衡的系统，所述加速和/或减速的值与不平坦部(B)的水平相关，所述系统的特征在于，其被配置为通过监测移动的车辆前方的道路(R) 来检测不平坦部(B)并基于这种监测来预测性地校正车辆的纵倾运动。
5. 根据权利要求4所述的控制系统，其中，车辆包括发动机、制动系统、发动机控制单元(E)和制动系统控制单元(F)，其特征在于，其包括：适用于车辆(A)的摄像机(C)，其用于监测道路(R)和检测不平坦部(B)；以及，处理单元(P, U)，其操作性地连接到所述摄像机(C)、所述发动机控制单元(E)和所述制动系统控制单元(F)，并且被配置为确定由摄像机(C)检测到的不平坦部轮廓(B)，并且甚至在克服不平坦部 (B)之前，根据如此确定的轮廓和车辆的速度来控制车辆(A)的加速或减速，从而减少其纵倾运动。
6.设置有根据权利要求4或5所述的控制系统的机动车辆。
CN202010170365.4A 2019-03-12 2020-03-12 用于控制机动车辆纵倾的方法和系统 Pending CN111688671A (zh)

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