WO1996016850A1 - System zur fahrstabilitätsregelung - Google Patents
System zur fahrstabilitätsregelung Download PDFInfo
- Publication number
- WO1996016850A1 WO1996016850A1 PCT/EP1995/004656 EP9504656W WO9616850A1 WO 1996016850 A1 WO1996016850 A1 WO 1996016850A1 EP 9504656 W EP9504656 W EP 9504656W WO 9616850 A1 WO9616850 A1 WO 9616850A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- pressure
- wheel
- control
- yaw
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W40/064—Degree of grip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
- B60G2400/1042—Acceleration; Deceleration lateral or transversal with regard to vehicle using at least two sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
- B60T2270/313—ESP control system with less than three sensors (yaw rate, steering angle, lateral acceleration)
-
- 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
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/95—Measuring the same parameter at multiple locations of the vehicle
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/20—Sideslip angle
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
Definitions
- FIG. 1 is a block diagram of the overall structure of a system for driving stability control
- Fig. 2 is a block diagram of the structure of a
- Activation logic 11 passes to a program 16 for implementing the yaw moment control law.
- the program 16 also uses the change specifications ⁇ for the yaw rate, which is the difference between the measured yaw rate ⁇ M ⁇ SS and that based on the
- an internal coefficient of friction ⁇ j. nt is calculated from the measured transverse acceleration a qußr and a calculated value for the longitudinal acceleration a ⁇ ong , which, assuming that there is complete utilization of the frictional connection, corresponds to the instantaneous coefficient of friction.
- the internal coefficient of friction ⁇ i nt is assigned a higher coefficient of friction ⁇ by means of a table, a characteristic curve or a constant factor. This coefficient of friction ⁇ is then fed to the control. It is thus possible in the next calculation step to calculate a target yaw rate ⁇ 80 n adapted to the road surface coefficient of friction and to improve the control.
- the filtered vehicle reference speed v Re f F ii is differentiated in field 93 from the vehicle reference acceleration v Ref , which is divided in field 94 by the filtered vehicle reference speed V R ⁇ ff ü, which leads to a factor f ß after nonlinear multiplication 95.
- this one linear multiplication 95 causes the factor fp to be set to zero for a small quotient of v R ⁇ f and v R ⁇ fFil , so that this factor, which stands before the float angle ß, can be neglected. Only when the vehicle acceleration v Ref reaches a significant size is the float angle ⁇ taken into account in the kinematic determination.
- Weighting vector k 2 used.
- Dimension s -1 carries and determines the size of the control steps in the correction of the yaw rate ⁇ .
- the setpoints calculated by the circular travel mode 11 such as ⁇ so n and ß are used as starting values for the single-track model. This avoids transients when switching.
- the further calculation is now carried out using the single-track model 311 until the speed threshold, which is lower as the speed decreases, is undershot.
- a control is therefore possible which directly uses the calculated slip angle difference as the controlled variable.
- the requirement for this regulation is to keep the controlled variable small in order to achieve an approximately neutral behavior. It may make sense to set this tolerance threshold asymmetrically so that the tolerance can be selected to be smaller in the direction of overriding behavior.
- a regulation of the driving behavior of the vehicle only makes sense as long as the adhesion of the vehicle wheels on the road allows the calculated additional torque to take effect on the vehicle. For example, it is undesirable for the control to in any case force the vehicle onto the curved path specified by the steering angle ⁇ if the steering wheel has been turned too hard or too quickly with regard to the existing vehicle speed.
- v front h: rear 1: left r: right x: stands for either v / 1 or h / r
- the limit of the braking force on the one side of the vehicle which should not be exceeded, can be compensated in the sense of a yaw moment control by reducing the braking force on the other side of the vehicle.
- the transmittable lateral force that is the force that acts perpendicular to the wheel plane
- it shows a strong dependence on the wheel slip, which manifests itself in the fact that the transmittable lateral force decreases sharply with increasing slip.
- the wheel behaves similarly to a blocked wheel. This means that hardly any lateral forces are applied.
- FIG. 25 a, b shows a vehicle in a schematic illustration in a right-hand curve. According to the radius of the curve and the speed of the vehicle, the vehicle must rotate about its vertical axis, that is to say there must be a certain yaw rate in the clockwise direction.
- the priority circuit can also be supplied with set pressure changes instead of set pressures (see section 7).
- the priority circuit 3 outputs the pressure changes ⁇ p at its output according to the rule that the requirement for a pressure drop on one of the wheels is preferably met and the requirement to maintain the pressure in a wheel brake have priority over the requirement after pressure increase.
- the individual demands on the priority circuit are thus processed in accordance with the rule that when there is a demand for pressure reduction, demands for maintaining the pressure or for increasing pressure are ignored. In the same way, no pressure is built up when pressure maintenance is required.
- This non-linear control element can e.g. B. be a counter.
- This counter converts the specified pressure changes into cycle numbers.
- the loop time T 0 is divided into approximately 3 to 10 switching intervals (cycles).
- the maximum number of cycles per loop time is a fixed quantity, which is determined according to the control quality to be achieved.
- cycle numbers are fed to the priority circuit, which takes up the cycle numbers of further controllers in further channels.
- Brake pressures are therefore not calculated or set at any point in the control loop.
- the control algorithms therefore do not require any information about the wheel brake, in particular no information about the relationship between the volume absorption of the wheel brakes and the brake pressures resulting therefrom.
- each loop time T 0 is divided into N time segments.
- a correction variable for the pressure in the individual wheel brakes can be determined from a comparison of the actual values for ⁇ , v R ⁇ f with the calculated values for ⁇ i and v R ⁇ f or estimated on the basis of the vehicle model, with the aid of the correction variable using a hydraulic model calculated pressure can be modified so that a better estimate of the wheel brake pressures can be given.
- the basic structure just described is explained in more detail in FIG.
- the computing model used is designated 820 as a whole. It contains three sub-models, namely
- the change in volume and thus the change in pressure in the individual wheel brakes can be followed by tracking the valve opening times.
- the body can move parallel to the plane in the x and y direction and rotate around its center of gravity, the axis of rotation being perpendicular to the plane of movement.
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019970702295A KR970706154A (ko) | 1994-11-25 | 1995-11-25 | 자동차용 주행 안정성 제어 시스템(directional stability controlling system) |
EP95941020A EP0794885B1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
JP51712796A JP4224133B2 (ja) | 1995-11-25 | 1995-11-25 | 走行安定性コントロール装置 |
PL95320139A PL320139A1 (en) | 1994-11-25 | 1995-11-25 | Drive stability control system |
AU42561/96A AU4256196A (en) | 1994-11-25 | 1995-11-25 | Directional stability controlling system |
DE59507826T DE59507826D1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
Applications Claiming Priority (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP4441956.2 | 1994-11-25 | ||
DE4441957 | 1994-11-25 | ||
DE4441956 | 1994-11-25 | ||
DEP4441959.7 | 1994-11-25 | ||
DEP4441958.9 | 1994-11-25 | ||
DE4441959 | 1994-11-25 | ||
DE4441958 | 1994-11-25 | ||
DEP4441957.0 | 1994-11-25 | ||
DEP4447313.7 | 1994-12-31 | ||
DE4447313 | 1994-12-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996016850A1 true WO1996016850A1 (de) | 1996-06-06 |
Family
ID=27511785
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1995/004655 WO1996016849A1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
PCT/EP1995/004657 WO1996016851A1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
PCT/EP1995/004656 WO1996016850A1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
PCT/EP1995/004654 WO1996016848A1 (de) | 1994-11-25 | 1995-11-25 | Fahrstabilitätsregler mit reibwertabhängiger begrenzung der referenzgierrate |
PCT/EP1995/004653 WO1996016847A1 (de) | 1994-11-25 | 1995-11-25 | Bremsanlage für ein kraftfahrzeug |
PCT/EP1995/004652 WO1996016846A1 (de) | 1994-11-25 | 1995-11-25 | Bremsanlage |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1995/004655 WO1996016849A1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
PCT/EP1995/004657 WO1996016851A1 (de) | 1994-11-25 | 1995-11-25 | System zur fahrstabilitätsregelung |
Family Applications After (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1995/004654 WO1996016848A1 (de) | 1994-11-25 | 1995-11-25 | Fahrstabilitätsregler mit reibwertabhängiger begrenzung der referenzgierrate |
PCT/EP1995/004653 WO1996016847A1 (de) | 1994-11-25 | 1995-11-25 | Bremsanlage für ein kraftfahrzeug |
PCT/EP1995/004652 WO1996016846A1 (de) | 1994-11-25 | 1995-11-25 | Bremsanlage |
Country Status (11)
Country | Link |
---|---|
US (3) | US5711025A (de) |
EP (6) | EP0792226A1 (de) |
JP (4) | JP4091110B2 (de) |
KR (5) | KR970706155A (de) |
CN (5) | CN1166813A (de) |
AU (6) | AU4176096A (de) |
CZ (5) | CZ158997A3 (de) |
DE (20) | DE19515055A1 (de) |
HU (4) | HUT77226A (de) |
PL (2) | PL320164A1 (de) |
WO (6) | WO1996016849A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6957875B2 (en) | 2003-03-07 | 2005-10-25 | Advics Co., Ltd. | Vehicle brake squeal control device |
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US5878357A (en) * | 1996-09-03 | 1999-03-02 | Ford Global Technologies, Inc. | Method and apparatus for vehicle yaw rate estimation |
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1995
- 1995-04-27 DE DE19515055A patent/DE19515055A1/de not_active Withdrawn
- 1995-04-27 DE DE19515053A patent/DE19515053A1/de not_active Withdrawn
- 1995-04-27 DE DE19515050A patent/DE19515050A1/de not_active Withdrawn
- 1995-04-27 DE DE19515046A patent/DE19515046B4/de not_active Expired - Lifetime
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- 1995-04-27 DE DE19515059A patent/DE19515059A1/de not_active Withdrawn
- 1995-04-27 DE DE19515048A patent/DE19515048A1/de not_active Withdrawn
- 1995-04-27 DE DE19515056A patent/DE19515056A1/de not_active Withdrawn
- 1995-04-27 DE DE19515061A patent/DE19515061A1/de not_active Ceased
- 1995-04-27 DE DE19515054A patent/DE19515054A1/de not_active Withdrawn
- 1995-04-27 DE DE19549800.3A patent/DE19549800B4/de not_active Expired - Lifetime
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- 1995-06-07 US US08/474,683 patent/US5711025A/en not_active Expired - Lifetime
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- 1995-11-25 DE DE59509013T patent/DE59509013D1/de not_active Expired - Lifetime
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- 1995-11-25 AU AU41758/96A patent/AU4175896A/en not_active Abandoned
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- 1995-11-25 EP EP95941020A patent/EP0794885B1/de not_active Expired - Lifetime
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1997
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