JP5928704B2 - Measuring device, road surface state estimating method, road surface state estimating device, and detecting device - Google Patents

Description

The present invention relates to a measurement device and a detection device, and is suitable for identifying a road surface state.

  Conventionally, as disclosed in the following prior art documents and the like, a technique for detecting tire acceleration as an index for identifying a road surface state has been proposed (see Patent Document 1).

JP 2011-203017 A

  However, in terms of acceleration, it is not possible to grasp the difference between the road surface material and the object interposed between the tire and the road surface in terms of physical laws. That is, the acceleration is an index for indirectly identifying the road surface state.

  Therefore, for example, it is difficult to distinguish a wet road surface, which is one of the important identification targets of the road surface state, from the road surface of the iron plate, and it cannot be said that the road surface state identification accuracy is high.

  The present invention has been made in view of the above points, and an object of the present invention is to propose a measuring device and a detecting device that can improve the road surface state identification accuracy.

準静電界は磁界成分を含まず、また、電波のように伝搬する性質がなく、人や車両、物質の周りに静電気帯電電界のように分布し、その極性またはレベルが変化する。 In order to solve such a problem, the present invention is a measuring apparatus, comprising: a detection unit that detects a charging potential distributed on a vehicle body by contact, separation, and friction between a tire and a road surface; and a charging potential detected by the detection unit. A monitoring unit that monitors the amplitude, the detection unit detects a charging potential distributed on the outer surface of the vehicle body, and the monitoring unit detects an amplitude change per unit period in the charging potential detected by the detection unit. the monitors, from the amplitude change per unit period, and wherein the Rukoto capture the change in mutual with road surface and dry tinged moisture road.
The electric field distributed on the vehicle body (the tire surface, the vehicle body outer surface, etc.) is one of the electric fields generated by the minute dipole antenna at the distance r shown in the following equation (1), and is obtained from the solution by the Maxwell equation. . Formula (1) includes three elements constituting an electromagnetic field (a radiated electromagnetic field proportional to 1 / r, an induction electromagnetic field proportional to 1 / r ² , and a quasi-electrostatic field proportional to 1 / r ³ ), The third term is an electric field distributed in the vehicle body, and changes with time from rolling of the tire as the vehicle travels.

The quasi-electrostatic field does not include a magnetic field component, does not have the property of propagating like radio waves, is distributed around a person, vehicle, or substance like an electrostatic charging electric field, and its polarity or level changes.

  The present invention also relates to a method for estimating the road surface condition during traveling, the detection step detecting a charged potential distributed on the vehicle body by contact, separation and friction between the tire and the road surface, and the detection step. A monitoring step for monitoring a time-varying waveform of the charging potential, and an estimating step for estimating the state of the road surface in contact with the tire from the change in the time-varying waveform accompanying a change in the road surface state.

  In addition, the present invention is an apparatus for estimating the state of a road surface during traveling, the detection unit detecting a charged potential distributed on the vehicle body by contact, separation and friction between the tire and the road surface, and the detection unit detects the charged potential. A monitoring unit that monitors a time-varying waveform of the charging potential, and an estimating unit that estimates a state of a road surface in contact with a tire from a change in the time-varying waveform accompanying a change in a road surface state, the estimating unit, Counting means for counting the number of specific peaks, which is the number of specific peaks that appear in the time change waveform and whose amount of change in charging potential is a peak larger than the average value of amplitude per unit period, a plurality of times per unit period; And an estimation means for estimating the state of the road surface in contact with the tire from the appearance frequency of the specific peak number.

  Further, the present invention is a detection device, a reference electrode disposed at a space from the outer surface of the vehicle body, a sensor amplifier that detects and amplifies the potential between the vehicle body and the reference electrode as a signal, It is characterized by providing.

In general, it is known that a charging potential is generated between a tire and a road surface due to contact, separation and friction between the tire and the road surface. However, it is difficult to directly obtain the charged potential generated between the tire and the road surface. In addition, it has been considered that on a wet road surface, the electric charge immediately moves to the ground through the water, and a charged potential generated between the tire and the road surface cannot be detected.
In this regard, the inventors have found that the charging potential generated between the tire and the road surface is distributed like a film throughout the vehicle body even if it is a watery road surface, and is slightly generated on the vehicle surface. I found it.
Measuring instrumentation 置及 beauty detecting apparatus of the present invention, the contact between the tire and the road surface, because it detects the charge potential distributed in the body by peeling and friction, for distributing the directly detector between the tire and the road surface Therefore, it is possible to accurately detect the charging potential generated between the tire and the road surface.
In addition, the charged potential generated between the tire and the road surface is a parameter that varies depending on the material of the road surface and the type of object interposed between the tire and the road surface, and is an index that directly identifies the state of the road surface. Become.
Measurement equipment of the present invention, since the monitoring the amplitude of such charging potential, it is possible to identify the road surface condition accurately. On the other hand, since the detection apparatus of the present invention detects such a charged potential, it is possible to accurately identify the road surface state according to the amplitude of the potential.
In this way, a measurement device and a detection device that can improve the road surface state identification accuracy are realized.

Further, the road surface state estimation method and the road surface state estimation device of the present invention estimate the road surface state from the change in the time-varying waveform of the charged potential distributed on the vehicle body due to contact, separation and friction between the tire and the road surface. The road surface condition can be estimated without providing a sensor.
Further, when estimating the road surface condition from the change in the time change waveform, the tires are calculated from the appearance frequency of the specific peak number obtained by counting the number of specific peaks having a large amplitude appearing in the time change waveform a plurality of times per unit period. Since the state of the road surface in contact with is estimated, the state of the road surface can be accurately estimated.

It is the schematic which shows the structure of the measuring apparatus which concerns on Embodiment 1 of this invention. It is the schematic which shows the structure of a data processing part. It is a flowchart which shows the monitoring process procedure. It is a graph which shows the amplitude waveform of the charging potential distributed in a vehicle body by the contact of a tire and a road surface, peeling, and friction. It is the schematic which shows a quadrupole. It is a graph which shows the relationship between a thermal noise level and a frequency. It is a graph which shows the relationship between the distance between electrodes based on simulation, and the electrical potential difference between electrodes. It is a figure which shows the structure of the road surface state estimation apparatus which concerns on this Embodiment 2. FIG. It is a figure which shows an example of the time change waveform of a charging voltage. It is an enlarged view of the time change waveform of a charging voltage. It is a figure which shows an example of the histogram showing the frequency distribution of the frequency | count of appearance of a specific peak. It is a figure which shows the probability density function of a Weibull distribution. It is a histogram showing the time distribution waveform of the charging voltage at the time of dry road running, and the frequency distribution of the frequency | count of appearance of a specific peak. It is a histogram showing the time distribution waveform of the charging voltage at the time of wet road running, and the frequency distribution of the frequency | count of appearance of a specific peak. It is a flowchart which shows a road surface state estimation method.

(1) Detection Principle Before describing a mode for carrying out the present invention, first, the detection principle of the present invention will be described.

  The detection principle of the present invention is to detect a charged potential distributed in a vehicle body by contact, separation and friction between a tire and a road surface as an index for identifying a road surface state.

  The fact that the charging potential is generated between the tire and the road surface due to contact, separation, and friction between the tire and the road surface itself can be seen from, for example, the background art disclosed in Japanese Patent Application Laid-Open No. 2011-225023. This is a well-known matter.

  However, the inventors have no knowledge of the prior art that detects the charging potential generated between the tire and the road surface. The present inventors consider that there are mainly two factors as such background.

  The first factor is that it was considered difficult to directly obtain the charged potential generated between the tire and the road surface.

  The second factor was that it was thought that on the wet road surface (hereinafter referred to as wet road surface), the electric charge immediately moved to the ground through the water and the charged potential generated between the tire and the road surface could not be detected. That is.

  For this reason, how to detect the potential between the tire and the road surface has become one of the problems. In this regard, the present inventors have found that the charging potential generated between the tire and the road surface is distributed like a film throughout the vehicle body even if the road surface is a wet road surface, and is slightly generated on the vehicle surface. Found. As a result, the charging potential generated between the tire and the road surface due to contact, separation and friction between the tire and the road surface was successfully detected from the space on the surface of the vehicle body.

  The charging potential generated between the tire and the road surface is a parameter that varies depending on the material of the road surface, the type of an object interposed between the tire and the road surface, and the like, and serves as an index for directly identifying the road surface state. Therefore, for example, the road surface of the iron plate, which is a slippery road surface compared with concrete, and the wet road surface can be identified in accordance with physical laws. Moreover, if acceleration is also taken into account as an index for identifying the road surface state, variations that can identify the road surface state can be increased.

  As described above, the detection principle of the present invention is to detect the charged potential distributed in the vehicle body by contact, separation and friction between the tire and the road surface, compared with the case where acceleration is applied as an index for identifying the road surface state. In addition, the road surface state identification accuracy can be dramatically improved.

(2) Embodiments for carrying out the present invention Embodiment 1
As shown in FIG. 1, the measuring apparatus 1 according to the first embodiment is mounted on a car 2 and includes a detection unit 10 and a data processing unit 20.

  The detection unit 10 includes a detection electrode 11, a reference electrode 12, and a sensor amplifier 13 as main components.

  The detection electrode 11 is disposed on the outer surface of the vehicle body 2A, and the reference electrode 12 is disposed with a space from the outer surface of the vehicle body 2A.

  In the case of the first embodiment, the detection electrode 11 and the reference electrode 12 are flat plates of the same shape and the same size, and are arranged in parallel to each other. The detection electrode 11 is disposed on the outer surface of the highest portion of the vehicle body 2 </ b> A, and the reference electrode 12 is disposed in a space immediately above the detection electrode 11.

  The reference electrode 12 is supported by a support member 14 that is fixed to the vehicle 2. The lower the dielectric constant of the support member 14, the better. This is because the potential between the detection electrode 11 and the reference electrode 12 can be accurately obtained. Examples of the low dielectric constant material include acrylic, urethane, and glass.

  In the case of the first embodiment, the support member 14 is a container having a bottom surface as an open surface, and is fixed on the outer surface of the vehicle body 2 </ b> A via the vibration absorbing member 15. The reference electrode 12 is attached to the outer surface of the top plate side of the container, and the detection electrode 11 is attached to the outer surface of the vehicle body 2A in the container. However, the shape and support method of the support member 14 described above are merely examples, and the present invention is not limited to this embodiment.

  The sensor amplifier 13 includes a detection element such as a FET (Field Effect Transistor) and an amplifier, detects a potential between the detection electrode 11 and the reference electrode 12 as a signal (hereinafter referred to as a potential signal), and detects the potential. Amplify the signal. The potential between the detection electrode 11 and the reference electrode 12 is distributed over the entire vehicle body 2A mainly from the contact between the tire 2B and the road surface 3 due to contact, separation, and friction between the tire 2B and the road surface 3. Charged potential.

  As described above, the detection unit 10 detects the charging potential distributed in the vehicle body by contact, separation, and friction between the tire 2B and the road surface 3.

  The data processing unit 20 is incorporated in the housing of the electronic unit of the vehicle 2 or is provided in an independent housing different from the electronic unit, and is connected to the sensor amplifier 13 through a cable. In the case where the data processing unit 20 is provided in an independent casing different from the electronic unit of the vehicle 2, the casing may be disposed on the outer surface of the vehicle body 2A or in the vehicle.

  As shown in FIG. 2A, the data processing unit 20 is configured by connecting various hardware to a CPU (Central Processing Unit) 21 that controls the data processing unit 20. For example, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23 serving as a work memory of the CPU 21, a storage unit 24, and the like are connected via a bus 25. The storage unit 24 stores a program (hereinafter referred to as a measurement program) for measuring a charged potential generated by contact, separation, and friction between the tire and the road surface.

  When the CPU 21 receives a command to measure the charging potential caused by contact, separation and friction between the tire and the road surface, the CPU 21 develops the measurement program in the RAM 23 and, as shown in FIG. 31, functions as a filter unit 32, a measurement unit 33, and a monitoring unit 34.

  The A / D converter 31 converts the potential signal output from the sensor amplifier 13 into data (hereinafter referred to as potential data). The filter unit 32 extracts a predetermined frequency band in the potential data output from the A / D conversion unit 31.

  The measurement unit 33 stores the potential data output from the filter unit 32 in the storage unit 24 and sends it to the monitoring unit 34. Note that the measurement unit 33 may perform predetermined data compression processing on the potential data to be stored in the storage unit 24.

  The monitoring unit 34 executes the monitoring process according to the flowchart shown in FIG. 3 using the potential data output from the measurement unit 33, and identifies the road surface state. That is, when the monitoring unit 34 receives a command to measure the charging potential generated by contact, separation, and friction between the tire and the road surface, the monitoring unit 34 starts monitoring processing and proceeds to the first step SP1.

  In the first step SP1, the monitoring unit 34 counts amplitude peaks that appear in the unit period on the plus side or the minus side from the reference.

  In the second step SP2, the monitoring unit 34 calculates the average of the amplitude peaks every time the amplitude peak of the unit period is counted in the first step SP1.

  In the third step SP3, the monitoring unit 34 compares the average of the amplitude peaks with the threshold value defining the road surface state every time the second step SP2 is calculated, and estimates the road surface state from the comparison result.

  Although the disclosure of the measured waveform of the amplitude of the charging potential distributed on the vehicle body on the wet road surface and the amplitude of the charging potential distributed on the vehicle body on the dry road surface (hereinafter referred to as dry road surface) is omitted here, the waveform shown in FIG. It becomes. As can be seen from FIG. 4, the amplitude of the charging potential distributed on the vehicle body on the wet road surface (FIG. 4A) and the amplitude of the charging potential distributed on the vehicle body on the dry road surface (FIG. 4B) are greatly different. There is a big difference.

  Specifically, the average of the amplitude of the charged potential distributed in the vehicle body at 30 [km] per hour is 0.06 [V] on the wet road surface and 0.3 [V] on the dry road surface, resulting in a potential difference of about 5 times. The experimental results are obtained. Further, the average amplitude of the charged potential distributed in the vehicle body at 60 [km] per hour is 0.09 [V] on the wet road surface and 0.55 [V] on the dry road surface, and the experimental result shows that a potential difference of about 6 times occurs. Is obtained. In other words, the higher the speed per hour, the greater the difference between the wet road surface and the dry road surface appears in the amplitude difference of the charged potential distributed on the vehicle body.

  As a result of this experiment, it is extremely important that the difference between the wet road surface and the dry road surface appears greatly in the amplitude difference of the charging potential distributed in the vehicle body. This is because, at present, no parameter has been found to capture the difference to the extent that the difference between the wet road surface and the dry road surface can be identified.

  Therefore, by monitoring the degree of change per unit period in the potential detected by the sensor amplifier 13, at least the change between the wet road surface and the dry road surface can be captured more sharply than in the past.

  For example, the upper limit of the threshold value set as a wet road surface with respect to the average amplitude per unit period in the potential detected by the sensor amplifier 13, and the lower limit of the threshold value set as a dry road surface with respect to the average And a difference of 5 times or more. When set in such a state, the change between the wet road surface and the dry road surface when traveling at a speed of 30 km / h or more can be grasped more sharply than in the past.

  Note that threshold values that define various road surface conditions can be set instead of or in addition to the threshold values for the wet road surface and the dry road surface. Further, as the number of such thresholds increases, it becomes possible to identify the road surface state according to the road surface material and the type of the object interposed between the tires.

  In the fourth step SP4, the monitoring unit 34 executes a process associated with the comparison result in the third step SP3. For example, when the average of the amplitude peaks calculated in the second step SP2 is less than the upper limit of the threshold value set as the wet road surface, the monitoring unit 34 indicates that the electronic data portion where the amplitude peak appears is a wet road surface. Is stored in the storage unit 24. As another example, a notification command indicating that it is a wet road surface and attention should be paid to traveling is given to the electronic unit of the vehicle body.

  As described above, the data processing unit 20 monitors the amplitude of the charging potential distributed on the vehicle body by contact, separation, and friction between the tire 2B and the road surface 3, and identifies the road surface state according to the degree of the amplitude of the charging potential.

  As described above, the measuring device 1 according to the first embodiment detects the charged potential distributed in the vehicle body 2A by contact, separation, and friction between the tire 2B and the road surface 3.

  Therefore, the measuring apparatus 1 can accurately detect the charging potential generated between the tire 2B and the road surface 3 without providing the detection unit 10 between the tire 2B and the road surface 3.

  Further, the measuring apparatus 1 according to the first embodiment monitors the amplitude of the charged potential distributed in the vehicle body 2A due to contact, separation, and friction between the tire 2B and the road surface 3.

  As described above, the charging potential generated between the tire 2B and the road surface 3 is a parameter that varies depending on the material of the road surface 3 and the type of the object interposed between the tire 2B and the road surface 3. It is an index that directly identifies the state. Therefore, the measuring device 1 can accurately identify the road surface state according to the amplitude of the charging potential.

  In the first embodiment, the detection electrode 11 is disposed on the outer surface of the highest part of the vehicle body 2A. However, the arrangement part of the detection electrode 11 is not limited to this embodiment. For example, the inner surface of the vehicle body 2 </ b> A can be used as the arrangement site of the detection electrodes 11. As another example, a part on the bottom or side of the vehicle body 2A, a trunk panel or a back door, or a conductor part connected to the vehicle body 2A can be employed. In short, the detection electrode 11 may be disposed on the surface of the vehicle body 2A.

  The vehicle body 2A itself may be a conductor corresponding to the detection electrode. However, when the vehicle body 2A itself is a conductor corresponding to the detection electrode, a cable wired to the sensor amplifier 13 is connected to the vehicle body 2A, but the vehicle body 2A is generally painted. Therefore, it is necessary to omit the coating of the part to which the cable is to be connected at the time of manufacture, or to remove the coating of the part. From the viewpoint of obtaining a potential distributed on the surface of the vehicle body without requiring this, it is preferable to dispose the detection electrode 11 on the surface (painted surface) of the conductor portion in the vehicle body 2A. Further, when the vehicle body 2A itself is a conductor corresponding to the detection electrode, in order to increase the sensitivity of the sensor amplifier 13, the cable is thickened to some extent to increase the contact area of the cable with the surface of the metal part of the vehicle body 2A. Cost. Therefore, from the viewpoint of obtaining a certain sensitivity of the sensor amplifier 13 without making the cable thick, it is preferable to dispose the detection electrode 11 on the surface (painted surface) of the conductor portion in the vehicle body 2A.

  In the first embodiment, the reference electrode 12 is arranged in a space immediately above the highest part of the vehicle body 2A. However, the arrangement site of the reference electrode 12 is not limited to this embodiment. For example, the spatial position above the inner surface of the vehicle body 2A can be adopted as the arrangement site of the reference electrode 12. As another example, a position on the bottom or side of the vehicle body 2A, or a spatial position above the surface of the trunk panel or the back door can be employed. In short, it is only necessary that the reference electrode 12 be arranged with a space from the surface of the vehicle body 2A. However, from the viewpoint of reducing the amount of electrostatic coupling with objects around the vehicle or vehicle components, it is preferable to be above the outer surface of the vehicle body part that is behind the vertical plane passing through the boundary between the upper end of the windshield and the vehicle body. Moreover, the upper part is more suitable than the outer surface of the highest vehicle body part.

By the way, as shown in FIG. 5, there are four electrodes 41 to 44 (hereinafter referred to as quadrupoles) that receive the charges of the inverted polarity at the adjacent vertices, with the reference electrode 12 being the center of gravity and being in the relationship of each vertex. ) May be provided. In the reference electrode 12 provided with this quadrupole, the electric fields generated from the adjacent electrodes 41-42, 42-43, 43-44, and 44-41 cancel each other regardless of time changes. In addition, the electric field intensity generated from each electrode 41 to 44 is attenuated by 2 ⁵ (2 ^{m + 1} : m is the number of electrodes) with respect to the distance, and the electric field range is limited to the vicinity. The external coupling range for 41-44 is limited to the immediate vicinity. For this reason, the strength of the electric field in the vicinity of the reference electrode 12 is 0 [V / m] or a value close thereto. Therefore, even when the spatial position above the inner surface of the vehicle body 2A and the outer surface of the bottom portion of the vehicle body 2A is the arrangement portion of the reference electrode 12, the road surface 3 and the components of the vehicle 2 and the like The amount of electrostatic coupling is greatly reduced. For this reason, the reference electrode 12 is further stabilized, and the potential between the detection electrode 11 and the reference electrode 12 can be obtained more accurately. When the quadrupole is provided in this way, the potential between the detection electrode 11 and the reference electrode 12 can be obtained more accurately regardless of the position of the reference electrode 12 disposed on the surface of the vehicle body 2A. it can. Such an electrode structure is not limited to the above-described quadrupole. Specifically, 2n electrodes that have a positive 2n (n is an even number equal to or greater than 2) square vertex and receive charges of inverted polarity at adjacent vertices are applicable. If the distance from the center of gravity of the regular 2n square to each vertex is constant, the distance between adjacent charges (that is, the length of the side of the polygon) decreases as n increases, and the electric fields generated from the electrodes cancel each other. Efficiency is improved. Therefore, the degree of stabilization of the reference electrode 12 can be increased as the electrode structure having a larger n is employed. For details of such an electrode structure, refer to Japanese Patent Application No. 2007-56954 already proposed by the present inventor.

  When the above-described electrode structure is not provided, the reference electrode 12 may be disposed with a space of 7.5 [μm] or more from the outer surface of the vehicle body 2A. The value of 7.5 [μm] is obtained from the simulation, and the simulation will be described.

<Simulation method>
Assuming that the potential generated on the outer surface of the vehicle body on a wet road surface is 0.1 [V], and assuming that the value of the thermal noise level generated in the sensor amplifier is the value shown in FIG. 6, from the surface of the vehicle body 2A to the reference electrode 12 The distance at which the potential difference becomes equal to or greater than the thermal noise level was determined.

  A value of 0.1 [V] means that the road surface is wet with the detection electrode arranged on the outer surface of the roof portion of the sedan type vehicle body and the reference electrode arranged in the space immediately above the detection electrode. It is the average of actual measurement values obtained when driving on the road.

  FIG. 6 shows the thermal noise level in the band of 1 [Hz] to 1 [GHz] calculated from a general formula representing the magnitude of thermal noise. The general formula is P = −174 + 10 log (Δf), where P [dbm] is the magnitude of thermal noise at 26.85 ° C. and f is the frequency.

<Simulation conditions>
The simulator used was EEM-STF Version 2.0 of the Institute of Information and Mathematics, and the vehicle body was assumed to be an electrode of 1 [m] × 1 [m], and 0.1 [V] was applied to the electrode. On the other hand, the reference electrode is assumed to be an electrode of 1 [m] × 1 [m] at infinity, and the electrode is set to 0 [V]. The distance between the electrode assumed to be the vehicle body and the electrode assumed to be the reference electrode was 1 [m].

<Simulation results>
FIG. 7 shows the relationship between the interelectrode distance and the interelectrode potential difference obtained from such a simulation. The maximum value of the thermal noise level in the band of 1 [Hz] to 1 [GHz] is 14.1 [μV] as shown in FIG. 6, and in order to obtain a potential difference of 14.1 [μV] or more, FIG. As shown in FIG. 7, it was 7.5 [μm]. As described above, the amplitude of the charging potential distributed to the vehicle body on the wet road surface is about one fifth that of the dry road surface. Therefore, when the reference electrode 12 is arranged at a space of 7.5 [μm] or more from the outer surface of the vehicle body 2A without providing the above-described electrode structure with respect to the reference electrode 12, 1 [Hz] -1 In the [GHz] band, it is possible to detect a potential higher than the potential generated on the outer surface of the vehicle body on a wet road surface.

  In the first embodiment, the reference electrode 12 is disposed in a space immediately above the detection electrode 11. However, the reference electrode 12 may be disposed outside the space immediately above the detection electrode 11. When a low dielectric such as glass or acrylic is present in the vehicle body 2A, such as a sunroof, it is better to place the reference electrode 12 in a space immediately above the low dielectric. With this arrangement, the amount of electrostatic coupling between the reference electrode 12 and the vehicle body 2A is reduced as compared to the case where the metal portion of the vehicle body 2A is directly below the reference electrode 12. Therefore, the reference electrode 12 is further increased. Stabilized. Therefore, the potential between the detection electrode 11 and the reference electrode 12 can be obtained more accurately.

  In the first embodiment, the detection electrode 11 and the reference electrode 12 are flat plates of the same shape and size. However, the detection electrode 11 and the reference electrode 12 may have different shapes or may have different sizes. The shapes of the detection electrode 11 and the reference electrode 12 are not limited to a flat plate shape, and various shapes can be employed.

  In the first embodiment, the measurement unit 33 is provided after the filter unit 32, and the monitoring unit 34 is provided after the measurement unit 33. However, the monitoring unit 34 may be provided after the filter unit 32, and the measurement unit 33 may be provided after the monitoring unit 34. The measuring unit 33 stores the entire potential data in the storage unit 24, but may store a part in the storage unit 24. Further, the filter unit 32 or the monitoring unit 34 may be omitted. Furthermore, when the data processing unit 20 is mounted on the vehicle 2, the detection unit 10 can be mounted on the vehicle 2 as a detection device.

Embodiment 2. FIG.
In the measurement apparatus 1 of the first embodiment, whether the road surface is a wet road surface or a dry road surface is estimated from the average amplitude per unit period in the charging potential detected by the detection unit 10. If the time change waveform is extracted and the road surface state is estimated using the extracted data of the plurality of time change waveforms, the road surface state estimation accuracy can be further improved.
FIG. 8 is a diagram illustrating a configuration of the road surface state estimation device 50 according to the second embodiment. The road surface state estimation device 50 includes a detection electrode 51, a reference electrode 52, a sensor amplifier 53, and a charged waveform extraction unit 54. , RMS (Root Mean Square) value calculating means 55, peak counting means 56, peak frequency distribution creating means 57, storage means 58, and road surface condition estimating means 59.
Each means from the detection electrode 51 to the sensor amplifier 53 constitutes a detection unit 50A that detects a charging potential generated by contact, separation, and friction between the tire and the road surface, and the charging waveform extraction unit 44 is detected by the detection unit 50A. The monitoring unit 50B that monitors the charging potential is configured, and each unit from the RMS value calculation unit 55 to the road surface state estimation unit 59 configures the estimation unit 50C.
Similar to the data processing unit 20 of the first embodiment, the monitoring unit 50B and the estimation unit 50C include a storage device such as a ROM and a RAM and a microcomputer program.

The detection electrode 51 is a flat electrode and is arranged with a predetermined gap with respect to the outer surface of the vehicle body 2A, and is capacitively coupled to the vehicle body 2A. In this example, by inserting a plate-shaped dielectric having a constant thickness in the gap between the outer surface of the vehicle body 2A and the detection electrode 51, the capacitance between the vehicle body 2A and the vehicle body 2A is increased. The size of the gap is ensured.
On the other hand, the reference electrode 52 is also made of a plate-like electrode, and is a resin such as acrylic or urethane attached so as to protrude from the upper end of the support base 2b provided on the vibration isolating base 2a provided on the outer surface of the vehicle body 2A. It attaches to the front-end | tip of the rod-shaped support bar 2c which consists of. The support base 2b is a cylindrical member in which an insulating member such as a plate-like wood is attached to the vibration isolation base 2a side and the support bar 2c.
Accordingly, the reference electrode 52 can be separated from the charged vehicle body 2A (for example, 100 mm or more), and the reference electrode 52 and the vehicle body 2A can be electrically insulated. It can be kept at zero potential.
Since the charging potential of the vehicle body 2A periodically changes between the (+) side and the (−) side, the charging potential that is the potential of the detection electrode 51 capacitively coupled to the vehicle body 2A also changes positively and negatively with time. .
Further, since the charging potential of the vehicle body 2A changes as the capacitance between the tire 2B and the road surface 3 changes, the capacitance between the tire 2B and the road surface 3 also changes depending on the road surface condition. Therefore, a change in the road surface condition can be detected by detecting a change in the charging voltage.
The sensor amplifier 53 is an amplifier including, for example, an FET (Field Effect Transistor), and amplifies and outputs a voltage between the detection electrode 51 and the reference electrode 52 (hereinafter referred to as a charging voltage).

The charging waveform extraction unit 54 sequentially extracts charging waveforms that are time-varying waveforms of the charging voltage for each tire circumference from the time-varying waveform of the charging voltage that is amplified by the sensor amplifier 53 and continuously output.
9A and 9B are diagrams showing an example of a time-varying waveform of the charging voltage. FIG. 9A is a time-varying waveform of a vehicle that is stopped on a dry road surface, and FIG. 9B is a dry road surface. It is a time change waveform of the vehicle which is driving.
As can be seen by comparing the time change waveform during stoppage and the time change waveform during travel, the amplitude of the time change waveform during travel is not necessarily constant. This is because the form in which the tire is in contact with water on the road surface is changed due to the influence of road surface unevenness and the like.
In the second embodiment, the unit period is set to one round of the tire, and the road surface condition is estimated by using the charging waveform data for the N rounds of the tire sequentially extracted by the charging waveform extracting unit 54, thereby improving the accuracy. I try to improve.
The RMS value calculation means 55 calculates the RMS value of the extracted charging waveform for each tire lap and stores it in the storage means 58.

The peak counting unit 56 includes a peak extracting unit 56a, a specific peak determining unit 56b, and a counting unit 56c, and counts the number of specific peaks included in the charging waveform. The specific peak will be described later.
The peak extraction unit 56a extracts the (+) side peak and the (−) side peak from the charging waveform.
The specific peak determination unit 56b calculates a peak value difference which is a difference between the amplitude value of the (+) side peak adjacent to the time and the amplitude value of the (−) side peak, and stores the peak value difference and the peak value difference. The RMS value stored in the means 58 is compared, and when the peak value difference is larger than the RMS value, the peak that is behind in time is determined as the specific peak.
Since the RMS value varies depending on the unevenness of the road surface and the vehicle speed, a threshold value is set for the amplitude value difference when a peak having a peak value difference larger than the RMS value is determined as a specific peak, as in this example. Unnecessary peaks can be surely excluded rather than a peak having a value difference larger than the threshold value as a specific peak.
FIG. 10 is an enlarged view of FIG. 9B, and a peak surrounded by a circle in FIG. 10 is a specific peak.
The counting means 56c counts the number of appearances of the specific peak. Counting the number of appearances is performed for each lap of the tire, and the count result is stored in the storage means 58. The number of appearances is counted for N times, that is, N charging waveforms, which is a preset number of times.

The peak frequency distribution creating means 57 includes a histogram creating means 57a and a distribution function approximating means 57b.
The histogram creating unit 57a creates a histogram representing the frequency distribution of the number of appearances of the specific peak using the data of the number of appearances of the specific peak for each rotation of the tire stored in the storage unit 58.
FIG. 11 is a diagram illustrating an example of a histogram, where the horizontal axis indicates the number of appearances of a specific peak, and the vertical axis indicates frequency.
When driving on a wet road, the frequency of the charging waveform is small, so that the frequency with a small number of appearances of a specific peak is large and the frequency with a large number of appearances is expected to be a small frequency distribution.
On the other hand, since a specific peak always appears when traveling on a dry road surface, it is expected that the specific peak has a frequency distribution with a high frequency within a range of the number of appearances having a certain width around a certain number of appearances.

The distribution function approximating means 57b approximates the histogram representing the frequency distribution of the number of appearances of the specific peak created by the histogram creating means 57a mainly by the Weibull distribution used when statistically representing the destruction phenomenon of the object. A scale parameter η and a shape parameter m of the probability density function of the Weibull distribution shown in the following equation (2) are calculated.

The shape parameter m of the probability density function of the Weibull distribution is a parameter related to the shape of the distribution. As shown in FIG. 12A, when m is small, f (x) does not have a peak and decreases rapidly as x increases. When m is large, f (x) has a peak.
The scale parameter η is a parameter relating to the position and height of the peak. As shown in FIG. 12B, when η is small, the coordinates of the peak position are small and the height is high. When η is large, the coordinates of the peak position are large and the height is low.
That is, on a wet road surface in which the frequency with a small frequency of appearance of a specific peak is large and the frequency with a high frequency of appearance is expected to be small, the shape parameter m when the frequency distribution is approximated by a probability density function of the Weibull distribution However, it is expected that the shape parameter m is large on a dry road surface where a specific peak always appears.
In this example, as will be described later, the road surface state is estimated by the shape parameter m.

As described above, the storage means 58 stores the RMS value of the charging waveform for each tire circumference extracted by the RMS value calculation means 55 and the number of appearances of the specific peak for each tire circumference measured by the counting means 56c. In addition, a map indicating the relationship between the road surface condition and the shape parameter m is stored. In this example, the determination shape parameter m ₀ is stored as a threshold value for identifying the dry road surface and the wet road surface.
The map showing the relationship between the road surface condition and the shape parameter m is a specific peak obtained by driving a vehicle on which the road surface state estimation device 50 of the second embodiment is mounted in advance on various road surfaces including a dry road surface and a wet road surface. It can be created using histogram data representing the frequency distribution of the number of appearances. The determination shape parameter m ₀ is set using this map.
It is preferable to obtain a plurality of wet road surface shape parameters m based on the thickness of the water film.

The road surface state estimating means 59 compares the shape parameter m of the probability density function of the Weibull distribution obtained by the peak frequency distribution creating means 57 with the judgment shape parameter m ₀ stored in the storage means 58, and the road surface being traveled is dry. Estimate whether the road surface is wet or wet.
FIGS. 13A and 13B are histograms showing the time distribution waveform of the charging voltage and the frequency distribution of the number of appearance of specific peaks during dry road running. FIGS. 14A and 14B are wet road running. 6 is a histogram representing a time distribution waveform of a charging voltage and a frequency distribution of the number of appearances of a specific peak.
When the histogram of the dry road surface and the histogram of the wet road surface are approximated to the Weibull distribution indicated by the thick curves in the figure, the shape parameter m of the probability density function is large on the dry road surface (m = 1.99), whereas the wet road surface Then, the shape parameter m is small (m = 0.98).
Therefore, if the shape parameter m is set as a threshold value for discriminating between a dry road surface and a wet road surface, the road surface condition during traveling can be accurately estimated.
That is, if m ≧ m _0, it is estimated as a dry road surface, and if m <m _0, it is estimated as a wet road surface.
Two threshold values (provided that m ₁ > m ₀ > m ₂ ) are provided. If m ≧ m _{1, the} road surface is estimated as a dry road surface. If m ≦ m _{2, the} road surface is estimated as a wet road surface, and m ₁ >m> m _2. Then, an instruction to measure again may be issued.

Next, a method of estimating the road surface state during traveling using the road surface state estimation device 50 will be described with reference to the flowchart of FIG.
First, the change in the charging potential of the vehicle body 2A, which changes with the change in the capacitance between the tire 2B of the traveling vehicle 2 and the road surface 3, is applied to the charging voltage of the detection electrode 51 that is capacitively coupled to the vehicle body 2A. Then, a charging waveform, which is a time-series waveform of the charging voltage for each tire round, is sequentially extracted from the time-varying waveform of the charging voltage (step S11).
Next, the RMS value of the extracted charging waveform is calculated (step S12), and the number of appearances of a specific peak that is the number of specific peaks included in the charging waveform for one turn of the tire is counted (step S13). .
And it is investigated whether the count of the specific peak appearance frequency for tire N rotation was completed (step S14).

If the counting for N rotations is not completed, the process returns to step S11 to extract the next charging waveform and continue the operation of counting the number of appearances of the specific peak.
After the count for N rotations is completed, a histogram representing the frequency distribution of the number of appearances of the specific peak is created (step S15), and this histogram is approximated by the Weibull distribution to determine the shape parameter of the probability density function of the Weibull distribution. m is calculated (step S16).
Then, the shape parameter m is compared with the determination shape parameter m ₀ which is a threshold value for identifying the dry road surface and the wet road surface, and it is estimated whether the road surface during traveling is a dry road surface or a wet road surface (step S17). ).

As shown in FIG. 13B and FIG. 14B, the shape parameter m _D of the probability density function when the dry road surface histogram is approximated by the Weibull distribution is the probability density function when the histogram is approximated by the Weibull distribution. Since the determination shape parameter m ₀ is set to m ₀ = 1.5, for example, it is possible to reliably identify whether the running road surface is a dry road surface or a wet road surface because it is larger than the shape parameter m _W.
In this way, a histogram representing the frequency distribution of the number of appearances of the specific peak is created from the time-varying waveform of the charging voltage to obtain the shape parameter m of the probability density function of the Weibull distribution, and the road surface state is estimated using this shape parameter m. As a result, the influence of road surface unevenness and the influence of the vehicle speed can be eliminated, so that the road surface condition estimation accuracy can be further improved.

In the second embodiment, the sensing electrode 51 is capacitively coupled to the vehicle body 2A by disposing a gap with respect to the outer surface of the vehicle body 2A. However, similarly to the first embodiment, the outer side of the vehicle body 2A is arranged. It may be arranged on the surface.
If the reference electrode 52 is installed at the center of gravity of the quadrupole as shown in FIG. 5, the reference electrode 52 can be installed not only on the outer surface of the vehicle body 2A but also on the inner surface, and the reference electrode 52 is stabilized. be able to.
In the second embodiment, a change in the charging potential of the vehicle body 2A is detected to detect a combination of the charging potentials of the four tires 2B. However, the detection electrode 51 is connected to each tire 2B, for example. By providing the tire house 2C (see FIG. 8) and estimating the road surface state for each tire 2B, it is possible to further improve the estimation accuracy of the road surface state.

In the second embodiment, the road surface state is estimated using the shape parameter m. However, the scale parameter η and the shape parameter m may be used. The scale parameter η is a parameter relating to the position and height of the peak. As shown in FIG. 12B, when η is small, the coordinates of the peak position are small and the height is high. When η is large, the coordinates of the peak position are large and the height is low.
The scale parameter η is used for estimating the variation of the running road surface. That is, when η is small, the frequency with a small number of appearances of a specific peak is large, and when η is large, the frequency with a large number of appearances of a specific peak is large. Can be expected to be dry.
Therefore, if the road surface state is estimated using the shape parameter m and the scale parameter η, the estimation accuracy of the road surface state can be further improved.

  The measurement device, the road surface condition detection device, or the components of the detection device of the present invention can be appropriately combined, omitted, or added with a well-known technique in addition to the contents shown in the above-described embodiment.

  The present invention can be used, for example, in the transportation industry, agriculture, mining, forestry, fishery, construction industry, manufacturing industry, electrical industry or information communication industry, and of course, it can be widely used in all other industries.

DESCRIPTION OF SYMBOLS 1 ... Measuring apparatus, 10 ... Detection part, 11 ... Detection electrode, 12 ... Reference electrode,
13 ... sensor amplifier, 14 ... support member, 15 ... vibration absorbing member,
20: Data processing unit, 21: CPU, 22: ROM, 23: RAM,
24... Storage unit, 31... A / D conversion unit, 32... Filter unit, 33.
34 …… Monitoring unit, 41 to 44 …… Electrodes.

Claims (11)

A detection unit for detecting a charging potential distributed in the vehicle body by contact, separation and friction between the tire and the road surface, and a monitoring unit for monitoring the amplitude of the charging potential detected by the detection unit ,
The detector is
Detecting the charged potential distributed on the outer surface of the vehicle body;
The monitoring unit
By monitoring the amplitude change per unit period in the charging potential detected by the detection unit,
A measuring apparatus characterized by capturing a change between a wet road surface and a dry road surface from an amplitude change per unit period . The upper limit of the threshold value set as a watery road surface with respect to the average amplitude per unit period in the charging potential detected by the detection unit, and the dry road surface as set with respect to the average The measurement apparatus according to claim 1 , wherein a difference from a lower limit of the threshold value to be set is five times or more . A detection step for detecting a charging potential distributed in the vehicle body by contact, separation and friction between the tire and the road surface;
A monitoring step of monitoring a time-varying waveform of the charging potential detected in the detection step;
A road surface state estimation method comprising: an estimation step of estimating a road surface state in contact with a tire from a change in the time-varying waveform accompanying a change in the road surface state. A counting step is provided for counting the number of specific peaks, which is the number of specific peaks that appear in the time-varying waveform and whose amount of change in charging potential is larger than the average amplitude per unit period, a plurality of times per unit period. ,
In the estimation step,
The road surface state estimation method according to claim 3 , wherein the state of the road surface in contact with the tire is determined from the appearance frequency of the specific peak number. In the counting step,
5. The road surface state estimating method according to claim 4 , wherein an RMS value per unit period is acquired from the time change waveform, and the RMS value is used as an average value of amplitude per unit period. In the counting step,
Extracting a positive peak and a negative peak from the time change waveform, calculating a peak value difference that is a difference between an amplitude value of the positive peak and an amplitude value of the negative peak, When the peak value difference exceeds the RMS value, the positive peak or the negative peak is determined as a specific peak, and the specific peak number that is the number of the determined specific peaks is counted,
In the estimation step,
6. The road surface state estimating method according to claim 5 , wherein a frequency distribution of a specific peak number per unit period is obtained, and a road surface state in contact with a tire is estimated from an appearance frequency of the specific peak number. In the estimation step,
Approximating the frequency distribution with a Weibull distribution to calculate a scale parameter and a shape parameter of the probability density function of the Weibull distribution;
The road surface state estimation method according to claim 6 , wherein the road surface state in contact with a tire is estimated from the calculated shape parameter or scale parameter and the shape parameter. A detection unit for detecting a charging potential distributed in the vehicle body by contact, separation and friction between the tire and the road surface;
A monitoring unit for monitoring a time-varying waveform of the charging potential detected by the detection unit;
An estimation unit that estimates a state of a road surface in contact with a tire from a change in the time-varying waveform accompanying a change in a road surface state,
The estimation unit is
Counting means for counting the number of specific peaks, which is the number of specific peaks that appear in the time change waveform and whose amount of change in charging potential is a peak larger than the average value of amplitude per unit period, a plurality of times per unit period;
A road surface state estimation device comprising: estimation means for estimating a state of a road surface in contact with a tire from the appearance frequency of the specific peak number. A reference electrode arranged at a distance from the outer surface of the vehicle body;
A detection apparatus comprising: a sensor amplifier that detects and amplifies a potential between the vehicle body and the reference electrode as a signal. The detection device according to claim 9 , wherein the reference electrode is disposed with a space of 7.5 μm or more from an outer surface of the vehicle body. Further comprising a detection electrode disposed on the surface of the metal part in the vehicle body,
The detection device according to claim 9 or 10 , wherein the sensor amplifier detects and amplifies a potential between the detection electrode and the reference electrode as a signal.

Images