1. A slip ratio estimating device in an automobile using a torque (T) of a motor to drive drive wheels, the slip ratio estimating device comprising:
motor torque measuring means for measuring the torque of the motor;
vehicle model calculating means for calculating a drive wheel rotation speed (\u03c9) and a drive wheel rotation acceleration
({dot over (\u03c9)}); and
slip ratio calculating means for calculating an estimated slip ratio
({circumflex over (\u03bb)})
by using the torque measured by the motor torque measuring means and the rotation speed and rotation acceleration calculated by the vehicle model calculating means to calculate an ordinary differential equation for a slip ratio.
2. The slip ratio estimating device according to claim 1, wherein the slip ratio calculating means calculates the estimated slip ratio by calculating Formula (A) as the ordinary differential equation for the slip ratio, wherein Formula (A) comprises:
\u03bb
^
.
=
–
\u03c9
.
\u03c9
\u2062
\u03bb
^
+
(
1
+
J
\u03c9
r
2
\u2062
M
\u2062
)
\u2062
\u03c9
.
\u03c9
–
T
r
2
\u2062
M
\u2062
\u2062
\u03c9
(r: tire radius of the drive wheel, M: vehicle weight, J\u03c9: inertia moment of a drive wheel rotating portion).
3. The slip ratio estimating device according to claim 2, wherein the slip ratio calculating means performs the calculation by adding a slip ratio observer based on an estimated error in body acceleration to a right side of Formula (A).
4. The slip ratio estimating device according to claim 3, further comprising acceleration measuring means for measuring a body acceleration (ax) of the automobile, wherein the slip ratio calculating means performs the calculation by adding the slip ratio observer to the right side of Formula (A).
5. The slip ratio estimating device according to claim 4, wherein the slip ratio calculating means calculates Formula (B) in which the slip ratio observer is added to the right side of Formula (A), wherein Formula (B) comprises:
\u03bb
^
.
=
–
\u03c9
.
\u03c9
\u2062
\u03bb
^
+
(
1
+
J
\u03c9
r
2
\u2062
M
\u2062
)
\u2062
\u03c9
.
\u03c9
–
T
r
2
\u2062
M
\u2062
\u2062
\u03c9
+
k
\u2061
(
\u03bb
^
)
\u2062
(
a
x
\u2061
(
t
)
–
N
M
\u2062
\u2062
\u03bc
\u2061
(
\u03bb
^
)
)
(k: observer gain, N: vertical resistance offered to one wheel, \u03bc: friction coefficient).
6. The slip ratio estimating device according to claim 1, further comprising:
acceleration measuring means for measuring a body accelerator (ax) of the automobile;
driving force calculating means for calculating an estimated value of a driving force of the automobile; and
driving resistance calculating means for calculating an estimated value of driving resistance (Fdr) from the estimated driving force calculated by the driving force calculating means and the body acceleration measured by the acceleration measuring means,
wherein the slip ratio calculating means for calculating an estimated slip ratio
({circumflex over (\u03bb)})
by using the estimated driving resistance calculated by the driving resistance calculating means in addition to the torque measured by the motor torque measuring means and the rotation speed and rotation acceleration calculated by the vehicle model calculating means to calculate an ordinary differential equation for a slip ratio.
7. The slip ratio estimating device according to claim 6, wherein the slip ratio calculating means calculates the estimated slip ratio by calculating Formula (C) as the ordinary differential equation for the slip ratio, wherein Formula (C) comprises:
\u03bb
^
.
=
–
\u03c9
.
\u03c9
\u2062
\u03bb
^
+
(
1
+
J
\u03c9
r
2
\u2062
M
\u2062
)
\u2062
\u03c9
.
\u03c9
–
T
r
2
\u2062
M
\u2062
\u2062
\u03c9
+
F
^
dr
r
\u2062
\u2062
M
\u2062
\u2062
\u03c9
\u2062
(r: tire radius of the drive wheel, M: vehicle weight, J\u03c9: inertia moment of a drive wheel rotating portion).
8. The slip ratio estimating device according to claim 7, wherein the slip ratio calculating means performs the calculation by adding a slip ratio observer based on an estimated error in body acceleration to a right side of Formula (C).
9. The slip ratio estimating device according to claim 8, wherein the slip ratio calculating means calculates Formula (D) in which the slip ratio observer is added to the right side of Formula (C), wherein Formula (D) comprises:
\u03bb
^
.
=
–
\u03c9
.
\u03c9
\u2062
\u03bb
^
+
(
1
+
J
\u03c9
r
2
\u2062
M
\u2062
)
\u2062
\u03c9
.
\u03c9
–
T
r
2
\u2062
M
\u2062
\u2062
\u03c9
+
F
^
dr
r
\u2062
\u2062
M
\u2062
\u2062
\u03c9
\u2062
+
k
\u2061
(
\u03bb
^
)
\u2062
(
a
x
\u2061
(
t
)
–
N
M
\u2062
\u2062
\u03bc
\u2061
(
\u03bb
^
)
+
F
^
dr
\u2062
M
\u2062
)
(k: observer gain, N: vertical resistance offered to one wheel, \u03bc: friction coefficient).
10. An automobile using a torque of a motor to drive drive wheels, the automobile comprising the slip ratio estimating device according to claim 1, wherein the torque of the motor is controlled such that an estimated slip ratio calculated by the slip ratio estimating device has a desired value.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A device for configuring a vehicle, the device comprising:
an interface to receive at least one first equipment parameter desired by a user of the vehicle;
a data memory to store a plurality of permissible vehicle configurations, a permissible vehicle configuration having a plurality of mutually combinable vehicle equipment parameters; and
a processor to predict a vehicle configuration potentially desired by the user from the plurality of permissible vehicle configurations based on a correlation of the at least one first equipment parameter desired by the user and at least one second equipment parameter, the vehicle configuration potentially desired by the user having the first equipment parameter desired by the user and at least the second equipment parameter.
2. The device of claim 1, wherein the processor selects a stored vehicle configuration having the first equipment parameter and the second equipment parameter as the vehicle configuration potentially desired by the user when the correlation of the first equipment parameter and of the second equipment parameter corresponds to a greater value than a correlation of the first equipment parameter and a third equipment parameter.
3. The device of claim 1, wherein the processor, in in response to receipt of the first equipment parameter allocated to a first parameter class, transfers a parameter set comprising the second equipment parameter of a second parameter class into a subset comprising the second equipment parameter of the parameter set of the second parameter class.
4. The device of claim 3, wherein the processor excludes a further stored vehicle configuration from a prediction if the further stored vehicle configuration has the first equipment parameter and a further equipment parameter allocated to the second parameter class that is excluded from the subset of the parameter set of the second parameter class.
5. The device of claim 3, wherein the processor, in response to receipt of a third equipment parameter allocated to a third parameter class different from the first parameter class, transfers the parameter set of the second parameter class into the subset of the parameter set of the second parameter class.
6. The device of claim 5, wherein the processor excludes a further stored vehicle configuration from a prediction if the further stored vehicle configuration has the first equipment parameter, the third equipment parameter and a further equipment parameter allocated to the second parameter class, excluded from the subset of the parameter set of the second parameter class.
7. The device of claim 1, wherein the interface provides a query signal with information on the parameter set comprising the first equipment parameter for the user.
8. The device of claim 1, wherein the processor receives a correction signal and, in consequence of the correction signal, change the correlation of the first equipment parameter desired by the user and at least the second equipment parameter.
9. A system, comprising;
a device for configuring a vehicle, the device comprising an interface to receive at least one first equipment parameter desired by a user of the vehicle, a data memory to store a plurality of permissible vehicle configurations, a permissible vehicle configuration having a plurality of mutually combinable vehicle equipment parameters, and a processor to predict a vehicle configuration potentially desired by the user from the plurality of permissible vehicle configurations based on a correlation of the at least one first equipment parameter desired by the user and at least one second equipment parameter, the vehicle configuration potentially desired by the user having the first equipment parameter desired by the user and at least the second equipment parameter; and
a programmable device comprising a further interface which provides the first equipment parameter for the interface and receives the predicted vehicle configuration from the processor.
10. A method for configuring a vehicle, the method comprising:
receiving at least one first equipment parameter desired by a user of the vehicle;
storing a plurality of permissible vehicle configurations, a permissible vehicle configuration having a plurality of mutually combinable equipment parameters of the vehicle; and
predicting a vehicle configuration potentially desired by the user from the plurality of permissible vehicle configurations on the basis of a correlation of the first equipment parameter desired by the user and at least one second equipment parameter, the vehicle configuration potentially desired by the user having the first equipment parameter desired by the user and at least the second equipment parameter.
11. A program comprising a program code for performing the method according to claim 10 when the program code is executed on a computer, a processor or a programmable hardware component.