JP2014108646A - Device and method for detecting inclination between running vehicle and road surface by inertia sensor made of one unit - Google Patents

Abstract

An object of the present invention is to control the expansion and contraction of a damper by using a high frequency component and angular / angular velocity of an angular velocity from an inertial sensor of only one unit provided on a vehicle body, thereby enabling a rotation around a pitch axis during traveling of the vehicle. And it aims at performing control around a roll axis.
According to the present invention, there is provided an apparatus and method for detecting the inclination of a running vehicle and a road surface using only one unit of inertial sensor, and a method of detecting the angular velocity from the inertial sensor (20) around the pitch axis of the vehicle (13). The configuration is such that the damper (11,11A) is controlled using high frequency components, and the damper (11,11A) is controlled using the angle / angular velocity from the inertial sensor (20) around the roll axis during traveling Is the method.
[Selection] Figure 1

Description

  The present invention relates to an apparatus and a method for detecting the inclination of a running vehicle and a road surface using only one unit of inertial sensor, and in particular, a high-frequency component and an angle / frequency of angular velocity from only one unit of inertial sensor provided on a vehicle body. The present invention relates to a novel improvement for controlling around a pitch axis and a roll axis during traveling of a vehicle by controlling expansion and contraction of a damper using an angular velocity.

As an apparatus for detecting the inclination of the vehicle and the road surface using this type of inertial sensor that has been conventionally used, for example, an attitude control apparatus for a working vehicle disclosed in Patent Document 1 can be cited as FIG.
That is, in FIG. 4, the chassis frame 13 is suspended on the vehicles 16, 21, 22 via the air springs 11, 12, 14, and the compressed air is supplied to and discharged from the air springs 11, 12, 14. , 22 and the chassis frame 13 are adjusted.

Further, the controller detects the inclination angle sensor of the chassis frame 13, and the controller controls the supply and discharge of the compressed air to and from the air springs 11, 12, and 14 based on the detection output of the inclination angle sensor to level the chassis frame 13. Alternatively, it is configured to be inclined by a predetermined angle.
The tilt angle sensor is constituted by, for example, a triaxial acceleration sensor or a free gyro.

JP 2007-312004 A

Since the conventional vehicle attitude control device is configured as described above, the following problems exist.
In other words, the tank lorry vehicle, which is the aforementioned vehicle, controls the posture of the vehicle that is stopped on the road surface, not the posture control during traveling, and it is necessary to install inertial sensors above and below the suspension. It was complicated.
In addition, using a plurality of inertial sensors is disadvantageous in terms of cost.

  An inclination detection device for a vehicle and a road surface by a single unit inertial sensor according to the present invention has a gyro 3 axis and an accelerometer 3 axis on a vehicle body that supports three or more tires via suspensions and dampers. One unit of inertial sensor comprising a combination or a combination of a gyro 1 axis and an accelerometer 2 or 3 axes, and a control unit connected to the inertial sensor are provided. Expansion and contraction of the damper is controlled by the control unit using a high frequency component of angular velocity from a sensor, and the damper around the roll axis during traveling of the vehicle body is measured by the control unit using the angle / angular velocity from the inertial sensor. In addition, there are three methods for detecting the inclination of a running vehicle and a road surface using only one unit of inertial sensor according to the present invention. One unit of inertial sensor comprising a combination of a gyro 3 axis and an accelerometer 3 axis or a combination of a gyro 1 axis and an accelerometer 2 or 3 axes on a vehicle body that supports the upper tire via a suspension and a damper. And a control unit connected to the inertial sensor, the extension of the damper is controlled by the control unit using the high frequency component of the angular velocity from the inertial sensor around the pitch axis while the vehicle body is running, The rotation around the roll axis during traveling is a method in which the expansion / contraction of the damper is controlled by the control unit using the angle / angular velocity from the inertial sensor.

Since the apparatus and method for detecting the inclination of a running vehicle and the road surface using only one unit of inertial sensor according to the present invention are configured as described above, the following effects can be obtained.
That is, a combination of a gyro 3 axis and an accelerometer 3 axis or a gyro 1 axis and an accelerometer 2 or 3 axis on a vehicle body that supports three or more tires via suspensions and dampers. A unit inertia sensor and a control unit connected to the inertia sensor are provided, and the expansion and contraction of the damper is controlled by the control unit using the high frequency component of the angular velocity from the inertia sensor around the pitch axis while the vehicle body is running Further, when the vehicle body is traveling, the rotation axis of the damper is controlled by the control unit using the angle / angular velocity from the inertia sensor, so that the inertia sensor of only one unit (unit) is used. The unit can detect and control the inclination between the vehicle and the road surface while driving, and there is no need to install it under the suspension as in the conventional case. In and the degree of freedom of the installation location is very high.

It is a schematic block diagram which shows the vehicle and the inclination detection apparatus of the road surface by the inertia sensor of only 1 unit by this invention. It is explanatory drawing which shows the driving state of the vehicle in this invention. It is explanatory drawing which shows the driving | running | working state different from FIG. 2 in this invention. It is a block diagram for showing the attitude control when the conventional vehicle stops.

  According to the present invention, by controlling the expansion and contraction of the damper using the angular velocity and the angle / angular velocity from only one unit of the inertial sensor provided on the vehicle body, it is possible to control around the pitch axis and the roll axis while traveling. It is an object of the present invention to provide an apparatus and a method for detecting the inclination of a running vehicle and a road surface using only one unit of inertial sensor.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of an apparatus and method for detecting the inclination of a running vehicle and a road surface by using only one unit of inertial sensor according to the present invention will be described below with reference to the drawings.
In addition, the same code | symbol is used for the same or equivalent part as a prior art example, and is demonstrated.
1 is a vehicle, and an inertial sensor 20 consisting of only one unit is provided on a vehicle body 13 of the vehicle 10. This inertial sensor 20 is composed of a well-known gyro 3 shaft (not shown). A combination of three axes of accelerometers or a combination of a gyro 1 axis and an accelerometer 2 or 3 axes. The gyro and the accelerometer are, for example, a capacitance detection type configuration using a well-known MEMS. By doing so, an extremely small and thin inertia sensor 20 can be obtained.

  Under the vehicle body 13, three or more, that is, three or four (four in the embodiment) tires 21 of vehicles 21 are provided via a suspension 22, and cooperate with the suspension 21. As described above, variable telescopic dampers 11, 11 A are provided between the vehicle body 13 and the axle 21.

  The inertial sensor 20 is connected to a control unit 23 provided on the vehicle body 13, and the control unit 23 uses the high frequency component of the angular velocity from the inertial sensor 20 to rotate the vehicle body 13 around the pitch axis. 23, the expansion / contraction of the damper 11 or 11A is controlled, and the rotation around the roll axis while the vehicle body 13 is traveling uses the angle / angular velocity from the inertial sensor 20 by the control unit 23 to the right or left side of the damper 11, 11A. When the high frequency component of the angular velocity from the inertial sensor 20 consisting of only one unit is used, and the case of using the angle / angular velocity are selected and used around the axis as described above. Thus, the inertial sensor 20 can be configured with only one unit.

Next, a method for detecting the inclination of the traveling vehicle 10 and the road surface 30 using only one unit of inertial sensor according to the present invention will be described.
First, in FIG. 2, in the case of an uphill or a downhill (not shown) where the probability of occurrence of this situation is usually extremely high, the circumference of the pitch axis during travel of the vehicle 10 is a high frequency of angular velocity from the inertial sensor 20. The posture of the vehicle 10 can be stabilized by controlling the expansion and contraction of the front and rear dampers 11 and 11A by the control unit 23 using the components.

Further, as shown in FIG. 3, in the case of an inclined place where the probability of occurrence of this situation is usually very small, the rotation around the roll axis while the vehicle 10 is traveling is determined using the angle / angular velocity from the inertial sensor 20, that is, the inclination angle. By controlling the right and left expansion / contraction of the dampers 11 and 11A by the control unit 23, the vehicle 10 can be stabilized against the inclination.
Therefore, as described above, it is possible to easily control the postures around the two different axes during traveling by using only one unit of inertial sensor 20.

An apparatus and a method for detecting the inclination of a vehicle and a road surface by a single unit inertial sensor according to the present invention uses a high frequency component and an angle / angular velocity of an angular velocity from a single unit inertial sensor provided on a vehicle body. By controlling the expansion and contraction of the damper, it is possible to perform control around the pitch axis and the roll axis of the traveling vehicle.
Although the four-wheeled vehicle has been described in the configuration of FIGS. 1 to 3 described above, the principle configuration of FIG. 1 can also be applied to a tricycle.

DESCRIPTION OF SYMBOLS 10 Vehicle 11, 11A Damper 13 Car body 20 Inertial sensor 21 Axle 22 Suspension 23 Control part 26 Tire 30 Road surface

Claims (2)

  On a vehicle body (13) that supports three or more tires (26) via suspensions (22) and dampers (11, 11A), a combination of three gyroscope axes and three accelerometer axes, or one gyroscope axis A unit of inertial sensor (20) comprising a combination of two or three accelerometers and a control unit (23) connected to the inertial sensor (20) are provided, and the vehicle body (13) is rotated around the pitch axis during travel. Controls the expansion and contraction of the damper (11, 11A) by the control unit (23) using the high frequency component of the angular velocity from the inertial sensor (20), and the rotation of the vehicle body (13) around the roll axis is Traveling with an inertial sensor of only one unit, wherein the control unit (23) controls expansion / contraction of the damper (11, 11A) using the angle / angular velocity from the inertial sensor (20). Inclination detection device between the vehicle inside and the road surface.   On a vehicle body (13) that supports three or more tires (26) via suspensions (22) and dampers (11, 11A), a combination of three gyroscope axes and three accelerometer axes, or one gyroscope axis A unit of inertial sensor (20) comprising a combination of two or three accelerometers and a control unit (23) connected to the inertial sensor (20) are provided, and the vehicle body (13) is rotated around the pitch axis during travel. Controls the expansion and contraction of the damper (11, 11A) by the control unit (23) using the high frequency component of the angular velocity from the inertial sensor (20), and the rotation of the vehicle body (13) around the roll axis is During traveling by the inertia sensor of only one unit, the expansion / contraction of the damper (11, 11A) is controlled by the control unit (23) using the angle / angular velocity from the inertia sensor (20). To detect the inclination of the vehicle and the road surface.

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