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US 6,611,781 B1Granted
Method and device for determining a speed value
AssigneeRobert Bosch GmbH
InventorRalf Gutmann
Life of this patent
Estimating the term…
Abstract
A method for determining a speed variable that represents the speed of a vehicle, including determining wheel speed variables, each of which describes the speed of a given wheel, determining weighting variables for the individual wheel speed variables, determining a support variable, via averaging, as a function of the wheel speed variables that have been weighted using the weighting variables, and determining the speed variable as a function of the support variable.
Claims18
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- and
- determining the speed variable as a function of the support variable.
2 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- and
- determining the speed variable as a function of the support variable;
- wherein:
- each respective weighting variable is determined using at least one of a non-crisp logic system and a fuzzy logic system;
- the at least one weighting variable represents at least one probability value;
- and
- the at least one probability value indicates a suitability of the wheel for determining the at least one speed variable.
7 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- and
- determining the speed variable as a function of the support variable;
- wherein each respective weighting variable is determined as a function of at least one of:
- the wheel speed variables;
- first wheel variables representing first time derivatives of the wheel speed variables;
- second wheel variables representing second time derivatives of the wheel speed variables;
- and
- at least one wheel braking force variable corresponding to a prevailing braking force between a tire and a road.
8 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a fuinction of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- determining the speed, variable as a function of the support variable;
- determining, using each of the wheel speed variables, a respective slip-corrected wheel speed variable accounting for a slip present at the corresponding one of the wheels;
- determining from the slip-corrected wheel speed variables transformed wheel speed variables, the transformed wheel speed variables accounting for a vehicle movement, the vehicle movement including the vehicle movement described by a yaw rate and a steering angle;
- and
- determining from the transformed wheel speed variables extrapolated wheel speed variables, for which an acceleration of the vehicle is accounted for;
- wherein these further steps are performed prior to the step of determining the respective weighting variable.
6 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function-of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- determining the speed variable as a function of the support variable;
- and
- at least one of suppressing and filtering small values among the weighting variables, before further processing the weighting variables.
3 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- determining the speed variable as a function of the support variable;
- determining an evaluation variable as a function of the weighting variables, the evaluation variable being a measure of a suitability of the support variable for determining the speed variable;
- determining a magnitude of a support to be performed as a function of the evaluation variable;
- and
- calculating, as a function of the evaluation variable, a factor for determining a component of the speed variable associated with the support variable.
5 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- and
- determining the speed variable as a function of the support variable;
- wherein each of the-weighting variables is determined as a function of a predefined set of rules, the predefined set of rules being selectable from a plurality of predefined sets of rules as a function of a vehicle movement variable, the vehicle movement variable indicating at least a movement of the vehicle in a longitudinal direction;
- wherein the vehicle movement variable is determined at least as a function of:
- the wheel speed variables;
- time derivatives of the wheel speed variables;
- a function of a value corresponding to a longitudinal acceleration of the vehicle;
- and
- a value indicating that a drive slip control system has performed at least one intervention procedure;
- wherein the vehicle movement variable is useable for distinguishing among a plurality of vehicle movement types, the plurality of vehicle movement types including at least one of:
- a decelerating vehicle movement, for which a first set of rules is selectable;
- an accelerating vehicle movement, for which a second set of rules is selected;
- and
- another vehicle movement that is neither decelerating nor accelerating, for which a third set of rules is selectable;
- and wherein:
- FRadij = (FRadij from straightforward stability analysis (FRStij)) or (FRadij from situation analysis (FRSiij)) or (FRadij from time-related uncertainty term FRZij)) FRStij = (absolute value of vijpp small) and ( (absolute value of vijpp smallest) or (difference between vijppmin and vijppmax small)) and (absolute value of vijp small) and ( (vijp close to axModell + axOff (not in the case of FMotr)) or (absolute value of axOff great (not in the case of FMotr))) and ( ( vij ′ ′ ′ close to vRef′) and ( (vij ′ ′ ′ closest to vRef′) or (difference between vijmin and vijmax small))) or ( (vij ′ ′ ′ smaller than vRef′ (vij ′ ′ ′ > 2*vijMin)) and (Fbij small (vij ′ ′ ′ > 2*vijMin)))) FRSiij = (vij ′ ′ ′ close to vRef′) and (vij ′ ′ ′ smaller than vRef′) and (number of wheels having (vij ′ ′ ′ smaller than vRef′) great) FRZij = (uncertainty term great) and ( ( (vij ′ ′ ′ smaller than vRef′) and (Fbij small)) or ( (vij ′ ′ ′ close to vRef′) and (absolute value of vijp small))) is the first set of rules;
- Fradij = ( (FRadij from straightforward stability analysis (FRStij)) and (FRadij from situation analysis (FRSiij))) or (Fradij from under-braking analysis (FRUbFij)) or (FRadij from time-related uncertainty term (FRZij)) FRStij = (absolute value of vijpp small) and ( (absolute value of vijpp smallest) or (difference between vijppmin and vijppmax small)) and (absolute value of vijp small) and (vijp close to axModell + axOff(not in the case of [FMotr and (ABS])) and ( (vij ′ ′ ′ greatest) or (difference between vijmin and vijmax small)) FRSiij = ( (vij ′ ′ ′ smaller vRef′) and (vijp small) and ( (vij ′ ′ ′ greatest) or (difference between vijmin and vijmax small) and (absolute value of vijpp small (vij ′ ′ ′ > 2*vjMin)) and (number of wheels having [amount vijpp very small] great) (vij ′ ′ ′ > 2*vjMin))) or ( (vij ′ ′ ′ greater than vRef′) and (Fbij great) and (vijp great) and ( (vij ′ ′ ′ close to vRef′) or (difference between vijmin and vijmax small))) or (tadjustmentij) great (wheel in adjustment phase) and (vijp small) and ( (vij ′ ′ ′ greatest) or (difference between vijmin and vijmax small))) or ( (vij ′ ′ ′ close to vRef′) and (vijp great) and (number of ABS-controlled wheels small)) FRUbFij = (absolute value of vijp small) and (difference between vijmin and vijmax small) and (difference between vijpmin and vijpmax small) and (difference between vijppmin and vijppmax small) and (vij ′ ′ ′ smaller than vRef′ (vij ′ ′ ′ > 2*vijMin)) FRZij = (uncertainty term great) and (vij ′ ′ ′ smaller than vRef′) and (vij ′ ′ ′ greatest) or (difference between vijmax and vijmin small) is the second set of rules;
- and Fradij = (FRadij from straightforward stability analysis (FRStij)) or (FRadij from situation analysis (FRSiij, only in the case of FMotr)) or (FRadij from time-related uncertainty term FRZij)) FRStij = (absolute value of vijpp small) and ( (absolute value of vijpp smallest) or (difference between vijppmin and vijppmax small)) and (absolute value of vijp small) and ( (vijp close to axModell + axOff (not in the case of FMotr) and ( ( vij ′ ′ ′ close to vRef′) and ( (vij ′ ′ ′ closest to vRef′) or (difference between vijmin and vijmax small))) or ( (vij ′ ′ ′ smaller than vRef′) and (difference between vijmin and vijmax small))) FRSiij = (vij ′ ′ ′ close to vRef′) and (vij ′ ′ ′ smaller than vRef′) and (number of wheels having (vij ′ ′ ′ smaller than vRef′) great) FRZij = Zero
- is the third set of rules.
19 more elements
A method for determining a speed variable representing a speed of a vehicle having wheels, comprising:
- determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- determining a respective weighting variable for each of the wheel speed variables;
- determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted by the respective weighting variable;
- determining the speed variable as a function of the support variable;
- and
- using at least one of a deceleration driving query set and an acceleration driving query set, wherein:
- (not ASR) and ( ( (mean vij″′ < vRef′ ) and (mean vijp < p_aRadmVerz) or (axModell < P_axVerz) or (number of wheels in ABS > 2)
- is the deceleration driving query set, the deceleration driving query set determining whether a deceleration driving situation is present;
- and
- (not deceleration) and ( ( (mean vij ′ ′ ′ > vRef′) and (mean vijp > P_aRadmAccel)) or ( ( (MMot*ueGe > P_MkaHalfAccel) or ( ASR and (axModell > P_axAccel))) and (axModell + axOff > P_axAccel)) or ( FdrAus and (MMot*ueGe > P_MkaHalfAccelFdrAus)))
- is the acceleration driving query set, the acceleration driving query set determining whether an acceleration driving situation is present.
8 more elements
A device for determining a speed variable representing a speed of a vehicle having wheels, the device comprising:
- means for determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding on of the wheels;
- means for determining a respective weighting variable for each of the wheel speed variables;
- means for determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted using the respective weighting variable;
- and
- means for determining the speed variable as a function of the support variable.
2 more elements
A device for determining a speed variable representing a speed of a vehicle having wheels, the device comprising:
- a first arrangement for determining wheel speed variables, each of the wheel speed variables describing a speed of a corresponding one of the wheels;
- a second arrangement for determining a respective weighting variable for each of the wheel speed variables;
- a third arrangement for determining a support variable as a function of weighted averaging of the wheel speed variables, each of the wheel speed variables being weighted using the respective weighting variable;
- and
- a fourth arrangement for determining the speed variable as a function of the support variable.
2 more elements
Dependencies are inferred from the claim text.