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WO2025105034A1 - Dispositif d'estimation d'immersion pour surface de route - Google Patents

Dispositif d'estimation d'immersion pour surface de route Download PDF

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Publication number
WO2025105034A1
WO2025105034A1 PCT/JP2024/033191 JP2024033191W WO2025105034A1 WO 2025105034 A1 WO2025105034 A1 WO 2025105034A1 JP 2024033191 W JP2024033191 W JP 2024033191W WO 2025105034 A1 WO2025105034 A1 WO 2025105034A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
flooding
wheel speed
submergence
road surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/033191
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English (en)
Japanese (ja)
Inventor
康文 江波
智弥 田中
優樹 武井
芳久 山田
浩司 上野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Advics Co Ltd
Toyota Motor Corp
Original Assignee
Advics Co Ltd
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Advics Co Ltd, Toyota Motor Corp filed Critical Advics Co Ltd
Publication of WO2025105034A1 publication Critical patent/WO2025105034A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions

Definitions

  • This disclosure relates to a road flooding estimation device.
  • Patent Document 1 discloses a flooding data detection program that determines whether water resistance corresponding to flooding is occurring as running resistance based on a comparison between an ideal acceleration calculated from the vehicle's driving force value and running resistance value and the actual value of the vehicle's acceleration, and detects flooding data that indicates the flooded state of the road surface.
  • flooding-related values related to flooding such as flood depth
  • flood depth flooding-related values related to flooding
  • An aspect of the present disclosure aims to accurately determine whether or not a road surface on which a vehicle is located is submerged.
  • a road surface flooding estimation device is applied to a vehicle in which at least one of a plurality of wheels is a driven wheel and at least one of the plurality of wheels is a driven wheel, and is equipped with a wheel speed difference acquisition unit that acquires a wheel speed difference from the difference between the wheel speed of the driven wheel and the wheel speed of the driven wheel, and a flooding determination unit that determines whether the road surface on which the vehicle is located is flooded or not based on the wheel speed difference acquired by the wheel speed difference acquisition unit.
  • the road surface flooding estimation device may be realized by a computer.
  • the control program for the flooding estimation device which causes the computer to operate as each part (software element) of the flooding estimation device, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present disclosure.
  • FIG. 1 is a configuration diagram of a flooding estimation system including a road surface flooding estimation device according to a first embodiment of the present disclosure.
  • 1 is a diagram illustrating an example of a configuration of a submergence estimation device according to a first embodiment of the present disclosure.
  • 11 is a diagram used to explain estimation of submergence depth by a submergence determining unit.
  • FIG. 5 is a flowchart showing a flow of a submergence determination process in the submergence estimation device according to the first embodiment of the present disclosure.
  • 11 is a state transition diagram showing a state of a vehicle entering a flooded road determined by a flooding estimation device according to a second embodiment of the present disclosure.
  • FIG. 1 is a configuration diagram of a flooding estimation system including a road surface flooding estimation device according to embodiment 1 of the present disclosure.
  • the flooding estimation system 1 shown in Fig. 1 is a system that estimates a road whose road surface is flooded (hereinafter, flooded road), and includes a flooding estimation device 2 and a server 3.
  • flooding of a road surface refers to a state in which the road surface is covered with water.
  • the flooding estimation system 1 includes one or more flooding estimation devices 2.
  • the multiple flooding estimation devices 2 are each disposed on a vehicle V.
  • the vehicle V is, for example, a four-wheel front-wheel drive vehicle in which the left and right front wheels are drive wheels and the left and right rear wheels are driven wheels.
  • the flooding estimation device 2 determines that the road surface on which the vehicle V on which it is disposed is located is flooded.
  • the server 3 is located outside the flooding estimation device 2.
  • the server 3 is a cloud server located outside the vehicle V equipped with the flooding estimation device 2.
  • the server 3 can transmit and receive information to and from the flooding estimation device 2.
  • the server 3 receives, from multiple flooding estimation devices 2, determination results that the road surface on which the vehicle V is located is flooded, and estimates a flooded road based on that information.
  • FIG. 2 is a diagram showing an example of the configuration of a flooding estimation device according to embodiment 1 of the present disclosure.
  • the flooding estimation device 2 shown in FIG. 2 includes a control unit 20, a memory unit 21, an input/output interface 22, an operation amount detection unit 23, a driving state detection unit 24, and a display unit 25.
  • the control unit 20 is, for example, a central processing unit (CPU).
  • the control unit 20 reads out a program from the storage unit 21 and executes the program.
  • the storage unit 21 has a storage medium such as a hard disk drive (HDD) or a solid state drive (SSD).
  • the storage unit 21 stores programs executed by the control unit 20 and vehicle specifications of the vehicle V. Possible vehicle specifications of the vehicle V include information on the drive device of the vehicle V, information on the braking device of the vehicle V, information on the steering device of the vehicle V, information on the weight of the vehicle V, information on the dimensions of the vehicle V, information on the tires of the vehicle V, and the friction coefficient.
  • the storage unit 21 also has a temporary storage medium such as a RAM (Random Access Memory) that the control unit 20 uses as a workspace.
  • RAM Random Access Memory
  • the input/output interface 22 is, for example, a Universal Serial Bus (USB) terminal, a Local Area Network (LAN) terminal, etc.
  • the submergence estimation device 2 is connected to a vehicle communication network such as a Controller Area Network (CAN) via the input/output interface 22, and the submergence estimation device 2 is capable of transmitting and receiving information to and from the server 3 via the CAN.
  • the operation amount detection unit 23 detects the amount of operation of an operation member of the vehicle V.
  • the operation members of the vehicle V may include an accelerator pedal, a brake pedal, and a steering wheel.
  • the running condition detection unit 24 detects the running condition of the vehicle V.
  • the running condition of the vehicle V includes at least the wheel speeds of the drive wheels and driven wheels of the vehicle V.
  • the running condition of the vehicle V may include position information of the vehicle V, the speed of the vehicle V, acceleration in three directions, i.e., forward/backward, left/right, and up/down directions of the vehicle V, angular velocities in three directions, i.e., pitch direction, yaw direction, and roll direction of the vehicle V, and master cylinder pressure.
  • the display unit 25 is, for example, a liquid crystal display device, and displays a setting screen for the flooding estimation device 2, a screen for providing the user with information regarding flooding of roads, and the like.
  • the control unit 20 of the flooding estimation device 2 shown in FIG. 2 executes a program stored in the memory unit 21, thereby functioning as a wheel speed difference acquisition unit 200, a running resistance acquisition unit 201, a flooding determination unit 202, and a determination result output unit 203.
  • the wheel speed difference acquisition unit 200 acquires the wheel speed difference from the difference between the wheel speed of the driving wheels of the vehicle V detected by the running condition detection unit 24 and the wheel speed of the driven wheels of the vehicle V.
  • the wheel speed difference is calculated, for example, by the following formula (1).
  • Wheel speed difference (wheel speed of left driving wheel - wheel speed of left driven wheel) / wheel speed of left driving wheel + (wheel speed of right driving wheel - wheel speed of right driven wheel) / wheel speed of right driving wheel ... (1)
  • the running resistance acquisition unit 201 acquires the running resistance value acting on the vehicle V.
  • the running resistance value includes friction resistance, gradient resistance, air resistance, and water resistance acting on the vehicle V.
  • the running resistance value is calculated based on information such as, for example, the operation amount of the operating member of the vehicle V detected by the operation amount detection unit 23, the running state of the vehicle V detected by the running state detection unit 24, and the friction coefficient stored in the memory unit 21 as the vehicle specifications of the vehicle V.
  • the flooding estimate calculated by equation (2) represents an estimate of the mass flow rate of water flowing on the road surface on which the vehicle V is located.
  • the flooding determination unit 202 determines the depth of water covering the road surface on which the vehicle V is located (hereinafter referred to as flooding depth) based on the value of the flooding estimate. For example, if the flooding estimate is less than a first threshold, the flooding determination unit 202 determines that the road surface on which the vehicle V is located is not flooded. If the flooding estimate is equal to or greater than a predetermined first threshold, the flooding determination unit 202 determines that the road surface on which the vehicle V is located is flooded.
  • the first threshold is a preset value based on vehicle specifications such as the tire diameter of the vehicle V.
  • FIG. 3 is a diagram showing an example of a change in the flooding estimate value when the vehicle travels along a route including a flooded road, and an example of the result of the estimation of the flooding depth by the flooding determination unit.
  • the horizontal axis of graph G shown in FIG. 3 is the distance L that the vehicle V has traveled on the route from the start position of the route.
  • the vertical axis of graph G shows the flooding estimate value calculated at a position where the vehicle V has traveled the distance L along the route from the start position.
  • Below graph G in FIG. 3 the result of the estimation of the flooding depth by the flooding determination unit 202 at a position where the vehicle V has traveled the distance L along the route from the start position is shown.
  • the flooding determination unit 202 estimates the flooding depth to be "less than 100 mm.”
  • the first threshold is a threshold used by the flooding determination unit 202 when determining whether the road surface on which the vehicle V is located is flooded or not.
  • the second threshold is set to a value greater than the first threshold.
  • the estimated flooding value is equal to or greater than the first threshold and less than the second threshold, and the estimated flooding depth by the flooding determination unit 202 is "less than 100 mm.”
  • the flooding determination unit 202 estimates the flooding depth to be "100 mm or greater and less than 200 mm.”
  • the third threshold is set to a value greater than the second threshold. In FIG. 3, when the distance traveled by the vehicle V from the start position is equal to or greater than L2 and less than L3, and greater than L4 and less than L5, the estimated flooding value is equal to or greater than the second threshold and less than the third threshold, and the estimated flooding depth by the flooding determination unit 202 is "100 mm or greater and less than 200 mm.”
  • the submergence determination unit 202 estimates the submergence depth to be "200 mm or more.”
  • the distance traveled by the vehicle V from the start position is between L3 and L4
  • the estimated submergence value is equal to or greater than the third threshold
  • the submergence depth estimation result by the submergence determination unit 202 is "200 mm or more.”
  • the method of estimating the submergence depth by the submergence determining unit 202 shown in FIG. 3 is one example, and the present invention is not limited to this.
  • the determination result output unit 203 outputs the result of the determination made by the submergence determination unit 202 to the display unit 25 and the server 3. For example, the determination result output unit 203 displays information including at least the submergence estimated value calculated by the submergence determination unit 202 or the submergence depth estimated by the submergence determination unit 202 on the display unit 25, and notifies the occupant that the road surface around the vehicle V is submerged. In addition, the judgment result output unit 203 transmits at least one of the submergence estimate value and the submergence depth, as well as the position information of the vehicle V detected by the driving condition detection unit 24 to the server 3.
  • the server 3 shown in FIG. 1 receives information from the judgment result output unit 203 of the flooding estimation device 2. For example, the server 3 receives at least one of the flooding estimate value and the flooding depth, and the position information of the vehicle V from the judgment result output unit 203 of the flooding estimation device 2.
  • the server 3 estimates the flooding condition of the road network based on the information received from the multiple flooding estimation devices 2.
  • the flooding condition of the road network includes, for example, the flooding depth of each road included in the road network.
  • the server 3 transmits information on the estimated flooding condition of the road network to the flooding estimation device 2.
  • the flooding estimation device 2 displays a screen based on the information on the flooding condition received from the server 3. For example, the flooding estimation device 2 displays information on flooded roads on the display unit 25, urges the occupant of the vehicle V to avoid entering the flooded road, or presents the occupant with a route to escape from the flooded road.
  • FIG. 4 is a flowchart showing the flow of flooding determination processing in the flooding estimation device according to embodiment 1 of the present disclosure.
  • the series of processing steps shown in FIG. 4 are repeatedly executed by the control unit 20 of the flooding estimation device 2. Once the control unit 20 of the flooding estimation device 2 has finished the processing steps shown in FIG. 4, it starts the processing steps of the next cycle.
  • control unit 20 functions as the wheel speed difference acquisition unit 200 and acquires the wheel speed difference of the vehicle V.
  • control unit 20 functions as the running resistance acquisition unit 201 and acquires the running resistance value acting on the vehicle V.
  • the process of S110 may be executed before S100, or the processes of S100 and S110 may be executed simultaneously.
  • the control unit 20 functions as the submergence determination unit 202 and acquires a submergence estimation value. For example, the control unit 20 acquires the submergence estimation value by calculating Equation (2) based on the wheel speed difference of the vehicle V acquired in S100 and the running resistance value of the vehicle V acquired in S110 (S120).
  • the control unit 20 functions as the submergence determination unit 202 and determines whether the submergence estimate value acquired in S120 is equal to or greater than a first threshold value. If the submergence estimate value is equal to or greater than the first threshold value (S130: YES), the control unit 20 estimates the submergence depth based on the submergence estimate value (S140).
  • the control unit 20 functions as the determination result output unit 203 and transmits at least one of the flooding estimate value acquired in S120 and the flooding depth estimated in S140, as well as position information of the vehicle V detected by the traveling condition detection unit 24, to the display unit 25 and the server 3. Thereafter, the control unit 20 ends the processing of the current cycle and starts the processing of the next cycle. If the flooding estimate value obtained in S120 is less than the first threshold value, the control unit 20 determines that the road surface on which the vehicle V is located is not flooded (S130: NO), ends the processing of the current cycle, and starts the processing of the next cycle.
  • the flooding estimation device 2 in the second embodiment differs from the first embodiment in that the flooding determination unit 202 determines whether or not the road surface on which the vehicle V is located is flooded based on the amount of change in the flooding estimation value in addition to the wheel speed difference acquired by the wheel speed difference acquisition unit 200 and the running resistance value acquired by the running resistance acquisition unit 201.
  • FIG. 5 is a state transition diagram showing the state of a vehicle entering a flooded road, as determined by a flooding estimation device according to embodiment 2 of the present disclosure.
  • the state transition diagram shown in FIG. 5 includes a first state ST1, a second state ST2, a third state ST3, and a fourth state ST4.
  • the first state ST1 indicates a state in which the road surface on which the vehicle V is located is not submerged.
  • the brake pedal is not pressed.
  • the estimated vehicle speed of the vehicle V is equal to or greater than a predetermined first speed.
  • the running resistance value is greater than or equal to a predetermined value.
  • the running resistance value also increases due to braking control associated with operation of the brake pedal of vehicle V.
  • the first entry condition [1-1] is to assume that an increase in the running resistance value when the brake pedal of vehicle V is operated is due to braking control, and not due to an increase in water resistance caused by flooding of the road surface.
  • the first speed is, for example, 5 km/h, which is a speed at which it has been confirmed through experiments that there is no significant difference in running resistance value between inside and outside a flooded road.
  • the predetermined value is a value that is set in advance through experiments or the like, and is a value that is greater than the running resistance value when the vehicle V is located outside the flooded road.
  • the predetermined number of times is, for example, three times.
  • the second state ST2 indicates a state in which the vehicle V has entered the flooded road from outside the flooded road.
  • the entry status of the vehicle V into the flooded road transitions to a third state ST3.
  • the above first approach conditions [1-1] to [1-3] are all satisfied.
  • the escape condition [3-1] described below is met, but the escape condition [3-2] is not met.
  • the entry status of the vehicle V into the flooded road is in the second state ST2
  • the entry status of the vehicle V into the flooded road transitions to the fourth state ST4.
  • [3-1] At least one of the first approach conditions [1-1] to [1-3] is not satisfied.
  • the submergence estimated value has decreased a predetermined number of times in succession.
  • the predetermined number of times is, for example, two times.
  • the third state ST3 indicates a state in which the vehicle V continues to travel through the flooded road.
  • the entry state of the vehicle V into the flooded road is in the third state ST3, if all of the above-mentioned escape conditions [3-1] and [3-2] are satisfied, the entry state of the vehicle V into the flooded road transitions to a fourth state ST4.
  • the fourth state ST4 indicates a state in which the vehicle V has exited from the flooded road.
  • the state in which the vehicle V has entered the flooded road is in the fourth state ST4, the state transitions to the first state ST1.
  • the flooding estimation system 1 includes the server 3, but it is not necessary to include the server 3.
  • a plurality of flooding estimation devices 2 may communicate directly with each other to mutually transmit and receive at least one of the determination result of the flooding determination unit 202 and the flooding estimated value, and the position information of the vehicle V detected by the traveling condition detection unit 24.
  • the submergence determination process shown in Fig. 4 is executed by the control unit 20 of the submergence estimation device 2.
  • part of the submergence determination process shown in Fig. 4 may be executed by the server 3.
  • the control unit 20 of the submergence estimation device 2 may transmit the wheel speeds of the drive wheels of the vehicle V and the wheel speeds of the driven wheels of the vehicle V detected by the traveling condition detection unit 24 to the server 3, and cause the server 3 to calculate the wheel speed difference (S100).
  • the control unit 20 of the flooding estimation device 2 may transmit information such as the amount of operation of the operating member of the vehicle V detected by the operation amount detection unit 23, the driving state of the vehicle V detected by the driving state detection unit 24, etc.
  • the server 3 may also function as the submergence determination unit 202.
  • the server 3 may be caused to acquire a submergence estimate value based on the wheel speed difference and running resistance value calculated by the control unit 20 of the submergence estimation device 2 or the server 3 (S120).
  • the control unit 20 of the submergence estimation device 2 or the server 3 may determine whether the acquired submergence estimate value is equal to or greater than a first threshold value (S130), and the submergence depth may be estimated based on the submergence estimate value (S140).
  • the submergence depth estimated by the server 3 may be transmitted from the server 3 to the submergence estimation device 2, and information including at least the submergence depth may be displayed on the display unit 25 of the submergence estimation device 2.
  • the flooding estimate obtained by the flooding determination unit 202 is an estimate of the mass flow rate of water flowing on the road surface on which the vehicle V is located, but is not limited to the mass flow rate of water as long as it is a physical quantity related to water covering the road surface.
  • the flooding estimate may be the volumetric flow rate of water flowing on the road surface on which the vehicle V is located, or the depth of water covering the road surface on which the vehicle V is located.
  • the flooding estimate may also be a physical quantity that can be calculated without using the running resistance value obtained by the running resistance acquisition unit 201.
  • the flooding estimate may be a constant multiple of the result of dividing the wheel speed difference by the vehicle speed.
  • the wheel speed difference is calculated based on the above formula (1), but the formula for calculating the wheel speed difference is not limited to the above formula (1).
  • the vehicle V is a front-wheel drive vehicle in which the left and right front wheels are drive wheels and the left and right rear wheels are driven wheels, but is not limited thereto.
  • the vehicle V may be any vehicle having at least one drive wheel and at least one driven wheel, and may be, for example, a two-wheel vehicle in which the front wheels are driven wheels and the rear wheels are drive wheels, a three-wheel vehicle in which one front wheel is a drive wheel and the two left and right rear wheels are driven wheels, or a four-wheel rear-wheel drive vehicle in which the left and right rear wheels are drive wheels and the left and right front wheels are driven wheels.
  • the contents of the first entry condition [1-1] to [1-4] shown in the above embodiment 2 are not limited to those described above.
  • the first entry condition [1-2] may include a condition that the estimated vehicle speed of the vehicle V is equal to or less than a second speed.
  • the second speed is a value at which the effect of air resistance on the running resistance value is equal to or greater than a predetermined ratio, for example, 40 km/h.
  • a predetermined ratio for example, 40 km/h.
  • the functions of the flooding estimation device 2 are a program for causing a computer to function as the device, and can be realized by a program for causing a computer to function as each control block of the device (particularly each part included in the control unit 20).
  • the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program.
  • the control device and the storage device execute the program to realize each of the functions described in each of the above embodiments.
  • the program may be recorded in one or more computer-readable recording media, not in a temporary manner.
  • the recording media may or may not be included in the device.
  • each of the control blocks can be realized by a logic circuit.
  • an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present disclosure.
  • the functions of each of the control blocks can be realized by, for example, a quantum computer.
  • each process described in each of the above embodiments may be executed by AI (Artificial Intelligence).
  • the AI may be executed by the control device or another device (for example, an edge computer or a cloud server).
  • a road surface flooding estimation device is applied to a vehicle in which at least one of a plurality of wheels is a driven wheel and at least one of the plurality of wheels is a driven wheel, and includes a wheel speed difference acquisition unit that acquires a wheel speed difference from the difference between the wheel speed of the driven wheel and the wheel speed of the driven wheel, and a flooding determination unit that determines whether the road surface on which the vehicle is located is flooded or not based on the wheel speed difference acquired by the wheel speed difference acquisition unit.
  • the present disclosure determines whether or not the road surface on which a vehicle is located is flooded based on a wheel speed difference, which is the difference between the wheel speed of the driving wheels and the wheel speed of the driven wheels.
  • the wheel speed difference used for this determination is not affected by changes in the mass of the vehicle due to changes in the occupants, etc. Therefore, even if the mass of the vehicle changes, it is possible to accurately determine whether or not the road surface is flooded.
  • a road surface flooding estimation device includes a running resistance acquisition unit that acquires a running resistance value acting on the vehicle, and the flooding determination unit determines whether the road surface on which the vehicle is located is flooded or not based on the wheel speed difference acquired by the wheel speed difference acquisition unit and the running resistance value acquired by the running resistance acquisition unit.
  • the first embodiment it is determined whether or not the road surface on which the vehicle is located is flooded based on a flooding estimated value calculated based on the wheel speed difference and the running resistance value (S130).
  • S130 the running resistance value
  • the running resistance value increases due to an increase in water resistance.
  • a flooding estimation device includes a running resistance acquisition unit that acquires a running resistance value acting on the vehicle, and the flooding determination unit estimates the flooding depth of the road surface on which the vehicle is located based on the wheel speed difference acquired by the wheel speed difference acquisition unit and the running resistance value acquired by the running resistance acquisition unit.
  • a submergence estimate which is an estimate of the mass flow rate of water flowing on the road surface on which the vehicle V is located, is calculated based on the wheel speed difference acquired by the wheel speed difference acquisition unit 200 and the running resistance value acquired by the running resistance acquisition unit 201, and the submergence depth of the road surface on which the vehicle is located is estimated based on the submergence estimate.
  • the submergence depth of the road surface on which the vehicle V is located increases. Since the wheel speed of the driven wheels is more susceptible to water resistance than the wheel speed of the driving wheels, the wheel speed difference increases as the submergence depth increases.
  • the submergence depth can be estimated with high accuracy.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention détermine avec précision si une surface de route sur laquelle se trouve un véhicule est immergée. Un dispositif d'estimation d'immersion (2) est appliqué à un véhicule dans lequel au moins l'une d'une pluralité de roues est une roue d'entraînement et au moins l'une de la pluralité de roues est une roue suivante, et comprend : une unité d'acquisition de différence de vitesse de roue (200) qui acquiert une différence de vitesse de roue à partir d'une différence entre la vitesse de roue de la roue d'entraînement et la vitesse de roue de la roue suivante; et une unité de détermination d'immersion (202) qui détermine si la surface de route sur laquelle le véhicule est situé est immergée sur la base de la différence de vitesse de roue.
PCT/JP2024/033191 2023-11-16 2024-09-18 Dispositif d'estimation d'immersion pour surface de route Pending WO2025105034A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2023195339A JP2025082096A (ja) 2023-11-16 2023-11-16 路面の冠水推定装置
JP2023-195339 2023-11-16

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WO2025105034A1 true WO2025105034A1 (fr) 2025-05-22

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150153266A1 (en) * 2013-12-04 2015-06-04 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Determining a risk of aquaplaning
WO2018139270A1 (fr) * 2017-01-24 2018-08-02 日産自動車株式会社 Dispositif de commande et procédé de commande de véhicule
US20200130694A1 (en) * 2018-10-24 2020-04-30 Hyundai Motor Company Regenerative braking control method of vehicle
JP2021015555A (ja) * 2019-07-16 2021-02-12 アイシン精機株式会社 路面冠水判定装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150153266A1 (en) * 2013-12-04 2015-06-04 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Determining a risk of aquaplaning
WO2018139270A1 (fr) * 2017-01-24 2018-08-02 日産自動車株式会社 Dispositif de commande et procédé de commande de véhicule
US20200130694A1 (en) * 2018-10-24 2020-04-30 Hyundai Motor Company Regenerative braking control method of vehicle
JP2021015555A (ja) * 2019-07-16 2021-02-12 アイシン精機株式会社 路面冠水判定装置

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