• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a method for estimating at least one first and a second parameter, respectively, in a vehicle, said vehicle comprising a motor for transmitting a driving force (Fraction) to at least one drive wheel, said first and second parameters constituting parameters in calculating at least one force acting on said vehicle, said first parameter being a mass (m0 for said vehicle. The procedure comprises: - estimating said first parameter (m0 when said driving force (FT.tion) for said vehicle satisfies a first condition , and - estimating said second parameter (Fmodel Err; CRcl1Res; CAirRes) when said driving force (FTruction) for said vehicle satisfies a second, separate from said first condition, condition.
    公开号:SE1351255A1
    申请号:SE1351255
    申请日:2013-10-23
    公开日:2015-04-24
    发明作者:Fredrik Roos；Mikael Ögren
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    The present invention relates to a method for estimating a first and a second parameter at a vehicle, respectively, said first and second parameters constituting parameters for calculating at least one force. on said vehicle according to the preamble of claim 1. The invention relates to a system for estimating parameters as above as well as a vehicle comprising such a system.
    The invention relates to a computer program for carrying out the process.
    Background of the Invention When driving a vehicle, it is important in many situations to have a good knowledge of the forces affecting the vehicle, especially when the vehicle is in motion.
    In particular, the fact that it performs well has various functions that occur in vehicles, often it is necessary to have a good knowledge of the magnitude of the forces that affect the vehicle.
    This may apply especially to heavy vehicles, but even with lighter vehicles, it is often unquestionable with good knowledge of the forces that affect the vehicle.
    For example. knowledge of the forces affecting the vehicle can be used when shifting to determine a expected behavior of the vehicle at e.g. Opening / closing, and / or torque adjustment, of the vehicle's driviina.
    Furthermore, speedometers with so-called Look Ahead - function increasingly common. Such cruise control simulates how the vehicle will behave when traveling along a future section of road. This forward-looking functionality, however, for good function, depends on the fact that the predicted behavior of the vehicle 2 also shows good agreement with the actual outcome. In order for such simulation to be carried out in a good way, it is important to have a good knowledge of the forces that affect the vehicle, such as engine torque, driveline losses, rolling resistance, air resistance and vehicle mass.
    An important parameter in determining the forces affecting the vehicle is the mass of the vehicle. The mass of the vehicle affects the behavior of the vehicle, especially when the vehicle is in motion, to a very large extent in many situations, which is why it is also very important to be able to correctly estimate this mass.
    The mass of the vehicle can also vary, especially in the case of heavy vehicles, to a very large extent. For example, the weight difference between an unladen vehicle and a fully loaded vehicle can be very large, and the weight of a fully loaded vehicle can be several times higher than the weight of the unladen vehicle.
    Such a difference in weight means for natural reasons that an unladen vehicle will behave very differently compared to a fully loaded vehicle at e.g. opening of a driveline due to the fact that the mass of the vehicle has a great impact on the vehicle's choke resistance, ie. the resultant of the forces affecting the vehicle during operation.
    The vehicle's masses are also typically present in cover models for e.g. calculation of the forces acting on the vehicle, where the impact of the mass can be very large, in particular when the vehicle is in motion.
    For example. the mass of the vehicle has a great influence on the way in which the topography of the road along which the vehicle is driven will affect the vehicle, since the mass of the vehicle has a great influence on how much the vehicle is accelerated or decelerated by a downhill or uphill slope. This 3 means that the correspondence between customary behavior and actual outcome in e.g. forward-looking cruise control also largely depends on the accuracy of the mass estimation.
    For this reason, heavy vehicles in particular often include functions for performing an estimation of the mass of the vehicle. In addition to the mass of the vehicle, there is also a need for knowledge of other parameters when calculating the forces affecting the vehicle, especially when this is in motion.
    SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for estimating parameters for use in calculating forces acting on a vehicle, whereby a good estimation of the forces acting on the vehicle can also be obtained.
    This object is achieved by means of a method for estimating at least one first and a second parameter, respectively, of a vehicle according to the characterizing part of claim 1.
    According to the present invention, there is provided a method for estimating at least one first and a second parameter, respectively, of a vehicle, said vehicle comprising a motor for transmitting a driving force to at least one drive wheel, said first and second parameters being parameters for calculating at least one force. acting on said vehicle, said first parameter being a mass of said vehicle. The method comprises: - estimating said first parameter when said driving force for said vehicle meets a first condition, and 4 - estimating said second parameter when said driving force for said vehicle meets a second, Iran named first condition separate, condition.
    As mentioned above, there are many situations where there is good knowledge of the forces that affect a vehicle, especially when the vehicle is in motion, or onskvard. According to the present invention, the accuracy can be improved when estimating parameters with which forces acting on said vehicle can be calculated, whereby the behavior of the vehicle in different situations can be better predicted.
    This is achieved according to the invention by estimating a first and a second parameter, respectively, when different conditions ride in the driving of the vehicle. In particular, estimation for each parameter is performed in cases where the influence from the kali = to errors that affect the estimation of the respective parameter Or is reduced.
    A first of the parameters that are estimated is the mass of the vehicle, etc., and according to the invention the mass of the vehicle is estimated in a situation when the driving force for said vehicle meets a first condition, cidr said first condition is such that the effect of parameters that estimate mass is reduced .
    This can be achieved by performing the estimation of the mass of the vehicle in the event that the driving force is at odds with the other forces affecting the vehicle, such as e.g. when the driving force Exceeds the total force of other forces acting on the vehicle, or an applicable multiple of the other forces acting on the vehicle. Such other forces acting on the vehicle can e.g. consists of air resistance and rolling resistance. The driving force Or usually selected in this sisom Or the steering wheel front can be calculated by utilizing the torque delivered by the internal combustion engine, which is usually specified in the vehicle's steering system, whereby the delivered torque can be converted to a driving force on the vehicle's drive wheel. and wheel diameter.
    Since the driving force is calculated by using the torque emitted by the internal combustion engine, which is often stated with good accuracy, a very good estimation of the vehicle mass can also be obtained when the impact from other forces is small and the estimation is thus mainly based on the driving force.
    The said first condition for the said driving force can e.g. consists of the driving force exceeding a first force, such as a force corresponding to any applicable proportion of the maximum torque emitted by the internal combustion engine. For example. said first condition may be that the driving force exceeds a driving force corresponding to 50% of the torque emitted by the internal combustion engine. Alternatively, the condition can e.g. is determined by the fact that the driving force corresponds to any torque emitted in any of the intervals: 50-100% of the torque emitted by the internal combustion engine, 70-100% of the torque emitted by the internal combustion engine, 85-100% of the torque emitted by the internal combustion engine.
    Furthermore, according to the present invention, at least a second parameter is estimated. This is carried out when the said driving force for the said vehicle fulfills a second, separate from the first condition mentioned above. Said second conditions for said driving force are preferably such that said driving force is equal to or less than a second, compared with said first force at most equal to rigid force. This means that the first and second parameters, respectively, will be estimated in different cases, since the driving force condition is such that there is no overlap. Ie. said first and second parameters will not be estimated simultaneously.
    Preferably, said second parameter is estimated when said driving force for said vehicle is less than a predetermined proportion of a maximum driving force, i.e. when the torque delivered by the internal combustion engine is less than a predetermined proportion of a maximum torque. For example. said predetermined proportion may constitute 40% of said driving force (said maximum releasable torque).
    Thus, estimation of the said first and second parameters can be performed in situations where good accuracy for each of the parameters can be stated, whereby different criteria for good accuracy racier. The criteria can also be arranged to others while driving the vehicle, whereby the criteria e.g. can be sharpened as estimates are performed, ie. the requirements for estimation to be performed can be set alit harder, with the result that estimation will take place more and more.
    The forces acting on said vehicle can generally be described with a calculation model representing core resistance forces acting on said vehicle, and said first and second parameters respectively advantageously constitute parameters in said calculation model. Furthermore, the first and second parameters, respectively, can be estimated by using the said calculation model. The said other parameter values can e.g. represent one or more forces in said calculation model or a parameter input when calculating a force. According to one embodiment, said second parameter represents a model error due to one or more or all of the forces in the calculation model. The present invention thus has the advantage that estimation of parameters for calculating forces acting on said vehicle can be carried out where it is probable that the estimates will be of high quality / accuracy, which also means that the number of required estimates required to obtain desired accuracy can be maintained. small.
    Furthermore, the fuel consumption of a vehicle depends on the rolling resistance. If the rolling resistance is higher than normal, fuel consumption will also be higher than normal. An increased rolling resistance can e.g. due to a brake being applied or the vehicle having incorrect wheel settings. The increased resistance may also be due to increased losses in the driveline. Such demands in rolling resistance are normally difficult to detect, but are possible according to the present invention.
    Additional features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments and the accompanying drawings.
    Brief Description of the Drawings Fig. 1A schematically shows a vehicle in which the present invention can be used.
    Fig. 1B shows a control unit in the control system of the vehicle shown in Fig. 1A.
    Figs. 2A-B show an exemplary method according to the present invention.
    Fig. 3 shows another exemplary method according to the present invention.
    Detailed Description of Embodiments Fig. 1A schematically shows a driveline in a vehicle 100 according to an embodiment of the present invention. The vehicle 100 schematically shown in Fig. 1A 8 comprises a driveline with an internal combustion engine 101, which in a conventional manner, via a shaft extending on the internal combustion engine 101, usually via a flywheel 102, is connected to a gearbox 103 via a clutch 106.
    The internal combustion engine 101 is controlled by the control system of the vehicle 100 via a control unit 115. Likewise, the clutch 106, which e.g. can be constituted by an automatically controlled clutch, and the gearbox 103 of the control system of the vehicle 100 by means of a control unit 116.
    A shaft 107 emanating from the gearbox 103 drives drive wheels 113, 114 via an end shaft 108, such as e.g. a conventional differential, and drive shafts 104, 105 connected to said end shaft 108. Fig. 1A thus shows a shifting system of a type with automatically shifted manual gearboxes, but the invention is equally applicable to all types of drivelines, such as manually shifted gearboxes, double clutch shafts, conventional automatic charging, etc. Likewise, the invention is applicable to all types of vehicles where a driving force is applied to at least one driving wheel, such as e.g. at least in part from an electric motor in electric hybrid vehicles or electric vehicles, or from another power source in other types of vehicles.
    Vehicles are generally affected by a number of forces when they are in motion. According to the above, one of these forces is a driving force, FTractiGn, which propels the vehicle forward or backward when the vehicle is reversing. The driving force is emitted by the force acting on the vehicle's drive wheel from the vehicle's one or more engines, in the present non-limiting example the internal combustion engine 101, where the torque delivered by the internal combustion engine 101 is usually converted to a force acting on the vehicle 100 wheels. The driving force FTrJctjofl can be arranged to include the internal losses of the internal combustion engine, 9 the driving force can thus be negative when no or only a small work is done by the internal combustion engine.
    Other forces acting on the vehicle include one or more of the rolling resistance force FRO11ReSI air resistance force FA R „and gravity force FGrav • Furthermore, the gradient has a large effect on the vehicle's core resistance through its effect on several of the mentioned forces as below.
    In general, a calculation model for describing the forces acting on the vehicle can be expressed according to: 10inva F Traction F Air Re s F Roll Re s F Gray F Brake (1) where all the forces consist of the forces as above and Tarake, which represents the braking force applied when one or more of the vehicle's braking systems, such as the service braking system or the auxiliary braking system, are activated. in, constitutes the mass of the vehicle (kg) and a (m / s ^ 2) constitutes the acceleration of the vehicle. must perform the resultant Frot of the forces acting on the vehicle.
    Concerning the estimation of these forces, therefore, the driving force is the fraction of the torque delivered from the engine converted into force on the vehicle's drive wheel. The other forces involved in the calculation model can e.g. estimated according to the following: F Air Re sA 'Re s VF Roll ResRoll Re sg COSOC FGrav Mvg sin a dar: v is the speed of the vehicle (m / s), a current slope for the surface on which the vehicle is traveling (row), g is the gravitational constant (approx. 9.82 m / s ^ 2), constitutes a constant which depends on the density of the air, the area of the vehicle in the direction of travel, and the coefficient of air resistance of the vehicle, which depends on the design of the surfaces of the vehicle facing the wind, and in principle all external details of the vehicle has an impact.
    The air resistance coefficient can therefore be an answer to be calculated, with the consequence that there is a risk that the air resistance force is estimated incorrectly. The air resistance is also strongly speed-dependent, with the result that incorrect estimation has an increased effect with higher vehicle speeds.
    C Roll Re s constitutes a rolling resistance coefficient, which mainly depends on the vehicle's tires / wheels. The rolling resistance force is also dependent on the normal force, ie. mvgcosa, and clamed the mass of the vehicle. The coefficient of rolling resistance can also be the answer to determine exactly.
    The vehicle's core resistance also depends on losses in the vehicle's driveline, where these may be difficult to distinguish, and therefore may be wholly or partly included in e.g. rolling resistance or driving force during estimation. All in all, this means that there is a risk that the forces acting on the vehicle will be estimated in a way that entails an undesirable deviation from the actual value.
    According to the present invention, there is provided a method which reduces the risk of incorrect estimation of the forces acting on the vehicle. This is achieved according to the present invention by estimating different parameters at different conditions for the vehicle when it is in motion.
    As mentioned above, one of the parameters which according to the present invention is estimated by the mass of the vehicle is in, and according to the invention the mass of the vehicle is estimated 1n when the driving force of the vehicle is rigid because eq. (1) in such situations shows great probability precisely against the vehicle's mass mtv, whereby also a good estimation of the vehicle's mass mc can be obtained since the driving force can usually be determined with good accuracy as above. Figs. 2A-2B illustrate an exemplary method according to the present invention, in which Fig. 2A shows a first part 200 of the method.
    The method according to the present invention is arranged to be performed by any applicable control unit in the control system of the vehicle, such as e.g. the engine control unit 1 (shown in Fig. 1A) or other control unit existing at the vehicle, such as e.g. the control unit 116 for controlling the clutch / gear shaft. The control unit can thus consist of any existing control unit in the vehicle's control system, and the function for estimating vehicle mass can also be implemented in more than one control unit. Likewise, the estimation of the vehicle mass can be arranged to be performed by several control units simultaneously and individually. The invention can also be implemented in a control unit dedicated to the present invention.
    In general, control systems in today's vehicles consist of a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs) as well as controllers, 115, 116, and various 12 components arranged in the vehicle 100. Such a control system may comprise a starting number of control units, and the responsibility for a specific function may be divided into more than one control unit. For the sake of simplicity, Fig. 1A shows only a very limited number of control units.
    The function of the control unit 115 (or the control unit (s) to which the present invention is implemented) according to the present invention can e.g. may be due to signals from the control unit 116 which control the gearbox / clutch, e.g. to get acquainted with when the driveline has been opened. The control unit 1 also receives the other required signals for calculating parameters according to the above and the following, respectively. In general, control units of the type shown are normally arranged to receive sensor signals from different parts of the vehicle 100, as well as from different control units arranged on the vehicle 100.
    The control is often controlled by programmed instructions. These programmed instructions typically consist of a computer program, which when executed in a computer or controller causes the computer / controller to perform the desired control, such as the process steps of the present invention.
    The computer program usually forms part of a computer program product, where the computer program product comprises an applicable storage medium 121 (see Fig. 1B) with the computer program stored on said storage medium 121. Said digital storage medium 121 may e.g. consists of someone from the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk drive, etc., and be arranged in or in connection with the control unit, the computer program being executed by the control unit. By following the instructions of the other computer program, the behavior of the vehicle in a specific situation can thus be adapted.
    An exemplary control unit (control unit 115) is shown schematically in Fig. 1B, wherein the control unit in turn may comprise a calculating unit 120, which may be constituted by e.g. any suitable type of processor or microcomputer, e.g. a Digital Signal Processor (DSP), or an Application Specific Integrated Circuit (ASIC). The calculating unit 120 is connected to a memory unit 121, which provides the calculating unit 120 e.g. the stored program code and / or the stored data calculation unit 120 need to be able to perform calculations. The calculation unit 120 is also arranged to store partial or final results of calculations in the memory unit 121.
    Furthermore, the control unit is provided with devices 122, 123, 124, 125 for receiving and transmitting input and output signals, respectively. These inputs and outputs may contain waveforms, pulses, or other attributes, which of the input signals 122, 125 for receiving input signals may be detected as information for processing the calculation unit 120. The devices 123, 124 for transmitting output signals are arranged to convert calculation results from the calculation unit. 120 to output signals for transmission to other parts of the vehicle control system and / or the component (s) for which the signals are intended. Each of the connections to the devices for receiving and transmitting input and output signals, respectively, may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or any other bus configuration; or by a wireless connection. Back to Fig. 2A, a first part of an exemplary method 200 according to the present invention is shown suedes. In step 201 of Fig. 2A, it is determined whether the driving force FTraction of the vehicle exceeds a first driving force. The value is preferably exerted by a relatively strong driving force, such as a driving force corresponding to a torque delivered by the vehicle's engine 101 constituting at least 50% of the maximum torque.
    Alternatively, grOnsvOrdett.ex. is set to any applicable proportion of a driving force corresponding to a torque delivered by the engine 101 of the vehicle according to any of the intervals exemplified above.
    If it is determined in step 201 that the driving force FTraction exceeds the threshold value, the procedure proceeds to step 202 for estimating the mass my of the vehicle. The mass my is estimated with the help of eq. (1) above, alternatively eq. (5) below, (Thus, the driving force F, „„ „Or relative star when estimation is performed.
    The others in eq. (1) the driving forces can be estimated by using parameters stored in the vehicle's control system.
    The mass can also be estimated by using the integration of eq. Described below. (1) alt. (5).
    The procedure then proceeds to step 203, where it is determined whether the estimation Or slutford and as long as that is not the case, the procedure returns to step 202. If in step 203 it is determined that the estimation Or slutford proceeds the procedure to step 204, (Jar the estimated value for When an estimate of the vehicle mass m has been performed, according to an embodiment of the invention, this estimated vehicle mass my is stored in a memory.When more On an estimation of the vehicle mass m has been performed, these more On one estimates can be averaged to obtain a
    权利要求:
    Claims (27)
    [1]
    A method for estimating at least one first and a second parameter, respectively, in a vehicle, said vehicle comprising a motor for transmitting a driving force (FTraction) to at least one drive wheel, said first and second parameters respectively constituting parameters in calculating at least one force acting. on said vehicle, said first parameter being a mass (m0 for said vehicle, characterized in that the method comprises: - estimating said first parameter (if said driving force (FTraction) for said vehicle satisfies a first condition, and - estimating said second parameter (Fmodel Err; CRcellReo; CAirRes) when said driving force (FTrucon) for said vehicle satisfies a second, separate from said first condition, condition.
    [2]
    A method according to claim 1, wherein said first condition for said driving force (FTraction) is that said driving force (FTractic, n) exceeds a first force, and wherein said second condition for said driving force (FTracgon) is constituted by said driving force (FTracgon). ,,,, tion) is equal to or less than a second, compared with the said first force maximum equal, force.
    [3]
    A method according to claim 1 or 2, further comprising estimating said second parameter (Fm ode 'Err; CRollRes; CAirRes) when the slope (a) of the ground on which said vehicle travels is less than a first slope, such as a slope relative to a horizontal plane maximum amount to an arbitrary slope in the range ± (0-0.1) radians, or ± (00.05) radians.
    [4]
    The method of claim 1 or 2, further comprising estimating said first parameter (my) and / or said 29 second parameter (Fploci, / Err; CRoilRes; CylirRes) when the speed of said vehicle exceeds a first speed.
    [5]
    A method according to any one of claims 1-4, further comprising estimating said second parameter (FAT odei Err; CRoilRes; CAirRes) when the acceleration of said vehicle reaches a maximum of a first acceleration, such as an acceleration of a maximum of ± 0.1 m / s2 or ± 0.05 m / s2, or an applicable acceleration in the range 0- + 0.1 m / s2.
    [6]
    A method according to any one of claims 1-5, wherein said estimating said first and second parameter values constitute parameters in a calculation model representing chore resistance forces acting on said vehicle.
    [7]
    The method of claim 6, further comprising estimating said first and second parameter values, respectively, using said calculation model.
    [8]
    The method of claim 6 or 7, further comprising estimating said second parameter value at a plurality of speeds for said vehicle, and applying different values for said second parameter value at different speeds when calculating according to said calculating model.
    [9]
    The method of claim 8, wherein said second parameter value is a parameter value representing a total deviation of at least two estimated forces and corresponding actual forces acting on said vehicle, further comprising: - based on said estimates at said plurality of speeds, determining a distribution for said deviation between said at least two estimated forces.
    [10]
    A method according to any one of claims 6-9, wherein said bending model comprises said driving force (FTraction) and at least one additional force.
    [11]
    The method of claim 10, wherein said At least one additional force is one or more of, or a representation of, the total force of one or more of: rolling resistance, air resistance, gravity.
    [12]
    A method according to claim 10 or 11, wherein estimating said first parameter value performed at said said driving force FTraction is greater than said at least one additional force.
    [13]
    A method according to any one of the preceding claims, further comprising, if said first or second parameter has been estimated, using this estimation when estimating the second of said parameters.
    [14]
    A method according to any one of the preceding claims, further comprising, if a previous estimation of said first or second parameter value has been performed, and in a subsequent estimation of said first or second parameter value, weighted said estimation with at least one respective previous challenge estimation of said parameter value.
    [15]
    A method according to any one of the preceding claims, wherein said second parameter value constitutes a parameter value representing an estimation of a deviation between an estimated force and a corresponding actual force acting on said vehicle. The method of claim 15, wherein said deviation represents a total deviation for a plurality of real forces acting IDA of said vehicle. 31
    [16]
    A method according to claim 15 or 16, further comprising: 1. with said motor connected to said drive wheel, performing an initial estimation of said second parameter value, - with said motor disengaged from said drive wheel, performing a second estimation of said second parameter value, and 2. gene = utilization of said first and second estimation of said second parameter value, respectively, determine a deviation for an upstream said decoupling hanforlig force.
    [17]
    A method according to any one of the preceding claims, wherein said second parameter is constituted by a force acting on said vehicle or a parameter by utilizing which a force acting on said vehicle can be calculated.
    [18]
    A method according to any preceding claim, further comprising estimating said second parameter (Fmodei Err; CR011R, 8; CAirRes) when said driving force (FTractio,) for said vehicle is less than a force corresponding to a predetermined proportion of a maximum releasable torque for said vehicle. engine.
    [19]
    The method of claim 18, wherein said predetermined proportion corresponds to a maximum of 40% of said maximum releasable torque.
    [20]
    A method according to any one of the preceding claims, further comprising adapting at least one of said first and second conditions, respectively, while traveling with said vehicle, said first and second conditions being different, so that the conditions for estimation are more met.
    [21]
    A method according to any one of the preceding claims, wherein said estimating at least one of said first and second parameters, respectively, is performed based on an effect of at least two forces on said vehicle over a period of time 32
    [22]
    The method of claim 21, wherein said estimating is performed based also on at least one of: - a speed change for said vehicle during said time period to-tend; and - a hike change for said vehicle during said time period tend.
    [23]
    A method according to claim 21 or 22, wherein said time period to-t, d corresponds to a distance xo-xe, which - is traveled during said time period fend •
    [24]
    A computer program comprising program code, which when said program code is executed in a computer, causes said computer to perform the method according to any of claims 1-23.
    [25]
    A computer program product comprising a computer readable medium and a computer program according to claim 24, wherein said computer program Or is included in said computer readable medium.
    [26]
    A system for estimating at least one first and a second parameter, respectively, of a vehicle, said vehicle comprising a motor for transmitting a driving force (FTraction) to at least one drive wheel, said first and second parameters respectively constituting parameters for calculating at least one force. acting on said vehicle, said first parameter being a mass (my) for said vehicle, characterized in that the system comprises means for: - estimating said first parameter (my) when said driving force (FTraction) for said vehicle satisfies a first condition , and - estimating said second parameter (Fmodel Err; CRcl1Res; CAirRes) when said driving force (FT „c,„ J for said vehicle satisfies a second, different from said first condition, condition. 33.
    [27]
    Vehicle, characterized in that it comprises a system according to claim 26. FIG. 'IA 13 1 .--- 104 103 , ---- 108 106 101 101) 107 .---- 2 /
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1351255A|SE538101C2|2013-10-23|2013-10-23|Estimation of parameters for calculating at least one force acting on a vehicle|SE1351255A| SE538101C2|2013-10-23|2013-10-23|Estimation of parameters for calculating at least one force acting on a vehicle|
    PCT/SE2014/051235| WO2015060771A2|2013-10-23|2014-10-21|Estimating a parameter for computing at least one force acting on a vehicle|
    DE112014004383.4T| DE112014004383T5|2013-10-23|2014-10-21|Estimating a parameter for calculating at least one force acting on a vehicle|
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