Method and apparatus for judging road surface conditions and program for judging road surface conditions

• US 7,389,170 B2
• Filed: 11/12/2003
• Issued: 06/17/2008
• Est. Priority Date: 11/13/2002
• Status: Expired due to Fees

• Current Assignee: Sumitomo Rubber Industries Limited
• Original Assignee: Sumitomo Rubber Industries Limited
• Inventors: Nakao, Yukio
• Primary Examiner(s): Jeanglaude; Gertrude A.
• Application Number:
  US10/704,909
• Publication Number:
  US 20040098187A1
• Time in Patent Office: 1,679 Days
• Field of Search: 701/200, 701/207, 701213-215, 701/70, 701/72, 701/79, 701 89- 90, 701/71, 701/80, 340/901, 340/905, 340/438, 340/447, 340466-467, 180/116, 180/119, 73/9, 731/46, 731/78.R, 731/79, 303/139, 303149-150
• US Class Current: 701/80
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2250/04 Vehicle reference speed; Vehicle body speed
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 40/064 Degree of grip

Abstract

A method, apparatus and program for judging road surface conditions on which a vehicle is running. The method, apparatus and program includes the steps of: obtaining wheel speed rotational information of driving wheels of the vehicle during running from wheel speed detectors, receiving GPS radio waves to calculate positional information, and judging road surface conditions during running on the basis of a relationship between the wheel speed rotational information and the positional information. Conditions of road surfaces on which a vehicle is running can be accurately judged.

Claims

1. A method for judging road surface conditions on which a four-wheel-drive vehicle is running, comprising the steps of:

obtaining wheel speed rotational information of driving wheels of the four-wheel-drive vehicle during running from wheel speed detecting means,

receiving GPS radio waves to calculate positional information of the four-wheel-drive vehicle,

calculating velocity and acceleration of the vehicle from the positional information,

calculating a slip rate of the wheels of the vehicle from the wheel speed information and velocity of the vehicle,

calculating a linear relationship between vehicle acceleration and the slip rate,

judging road surface conditions during running from a gradient of the linear relationship, and

providing an output of the road surface conditions.

2. The method of claim 1, wherein the wheel speed rotational information is indicative of rotational velocities which are calculated upon reading periods of wheel speed pulses of the wheel speed detecting means and the number of pulses at specified time intervals;

the positional information is read in synchronization with time intervals of velocity detection for calculating rotational velocities to calculate a moving distance of the four-wheel-drive vehicle from the positional information;

a vehicle velocity and the acceleration of the four-wheel-drive vehicle are calculated from the moving distance; and

the slip rate is calculated from the rotational velocity and the vehicle velocity, and road surface conditions are judged during running by utilizing the relationship between the slip rate and the acceleration.

3. The method of claim 2, wherein moving averaging processes are performed for a specified number of values of the rotational velocity and the velocity or acceleration of the four-wheel-drive vehicle which have been read per each specified time interval.

4. The method of claim 1, wherein a GPS device receives GPS radio waves to calculate information on vehicle velocity.

5. The method of claim 4, wherein the wheel speed rotational information is indicative of rotational velocities which are calculated upon reading periods of wheel speed pulses of the wheel speed detecting means and the number of pulses at specified time intervals;

the information on vehicle velocity is read in synchronization with time intervals of velocity detection for calculating rotational velocities;

a vehicle velocity and the acceleration of the four-wheel-drive vehicle are calculated from the information on vehicle velocity; and

the slip rate is calculated from the rotational velocity and the vehicle velocity, and road surface conditions are judged during running by utilizing the relationship between the slip rate and the acceleration.

6. The method of claim 5, wherein moving averaging processes are performed for a specified number of values of the rotational velocity and the velocity or acceleration of the four-wheel-drive vehicle which have been read per each specified time interval.

10. The apparatus of claim 4, wherein the GPS device receives GPS radio waves and calculates information on vehicle velocity.

11. The apparatus of claim 10, wherein the wheel speed rotational information is indicative of rotational velocities which are calculated upon reading periods of wheel speed pulses of the wheel speed detecting means and the number of pulses at specified time intervals;

the GPS device further includes a four-wheel-drive vehicle information calculating means which reads the information on vehicle velocity in synchronization with time intervals of velocity detection for calculating rotational velocities and which calculates a vehicle velocity and an acceleration of the four-wheel-drive vehicle from the information on the vehicle velocity; and

the apparatus is further provided with a slip rate calculating means which calculates the slip rate from the rotational velocity and the vehicle velocity, and a judging means which judges road surface conditions during running on the basis of a relationship between the slip rate and the acceleration.

12. The apparatus of claim 11, wherein the apparatus further includes a moving average processing means which performs moving averaging processes for a specified number of values of the rotational velocity and the velocity or acceleration of the four-wheel-drive vehicle which have been read per each specified time interval.

7. An apparatus for judging road surface conditions on which a four-wheel-drive vehicle is running, comprising:

wheel speed detecting means which detect wheel speed rotational information of tires of driving wheels of the four-wheel-drive vehicle,

a GPS device which receives GPS radio waves and calculates positional information,

means for calculating velocity and acceleration of the vehicle from the positional information,

means for calculating a slip rate of the wheels of the vehicle from the wheel speed information and velocity of the vehicle,

means for calculating a linear relationship between vehicle acceleration and the slip rate,

means for judging a road surface condition during running from a gradient of the linear relationship, and

a device for providing an output of the road surface conditions.

8. The apparatus of claim 7, wherein the wheel speed rotational information is indicative of rotational velocities which are calculated upon reading periods of wheel speed pulses of the wheel speed detecting means and the number of pulses at specified time intervals;

the GPS device further includes a distance calculating means which reads the positional information in synchronization with time intervals of velocity detection for calculating rotational velocities and which calculates a moving distance of The four-wheel-drive vehicle from the positional information, and a four-wheel-drive vehicle information calculating means which calculates a vehicle velocity and the acceleration of the four-wheel-drive vehicle from the moving distance; and

the apparatus is further provided with a slip rate calculating means which calculates the slip rate from the rotational velocity and the vehicle velocity, and a judging means which judges road surface conditions during running on the basis of a relationship between the slip rate and The acceleration.

9. The apparatus of claim 8, wherein the apparatus further includes a moving average processing means which performs moving averaging processes for a specified number of values of the rotational velocity and the velocity or acceleration of the four-wheel-drive vehicle which have been read per each specified time interval.

13. A computer-readable medium storing a program for judging road surface conditions on which a four-wheel-drive vehicle is running, the program, when executed by processor, carrying out a method comprising the steps of:

obtaining wheel speed rotational information of driving wheels of the four-wheel-drive vehicle during running from wheel speed detecting means,

receiving GPS radio waves to calculate positional information of the four-wheel-drive vehicle,

calculating information on velocity and acceleration of the vehicle from the positional information,

calculating a slip rate of the wheels of the vehicle from the wheel speed information and velocity of the vehicle,

calculating a linear relationship between vehicle acceleration and the slip rate,

judging road surface conditions during running from a gradient of the linear relationship, and

providing an output of the road surface conditions.

14. The computer-readable medium of claim 13, wherein the wheel speed rotational information is indicative of rotational velocities which are calculated upon reading periods of wheel speed pulses of the wheel speed detecting means and the number of pulses at specified time intervals, and the program, when executed, further carries out the steps of:

reading the positional information in synchronization with time intervals of velocity detection for calculating rotational velocities to calculate a moving distance of the four-wheel-drive vehicle from the positional information;

calculating a vehicle velocity and the acceleration of the four-wheel-drive vehicle from the moving distance;

calculating the slip rate from the rotational velocity and the vehicle velocity, and

judging road surface conditions during running by utilizing the relationship between the slip rate and the acceleration.

15. The computer-readable medium of claim 14, wherein the program, when executed, further carries out the step of performing moving averaging processes for a specified number of values of the rotational velocity and the velocity or acceleration of the four-wheel-drive vehicle which have been read per each specified time interval.

16. The computer-readable medium of claim 13, wherein a GPS device receives GPS radio waves to calculate information on four-wheel-drive vehicle velocity.

17. The computer-readable medium of claim 14, wherein a GPS device receives GPS radio waves to calculate information on four-wheel-drive vehicle velocity.

18. The computer-readable medium of claim 15, wherein a GPS device receives GPS radio waves to calculate information on four-wheel-drive vehicle velocity.