DE102009014085A1 - Method for operation of vehicle, involves determining additional load indicator resulting from load arranged on or in vehicle, where additional load indicator is determined on basis of course of dynamic change - Google Patents

Abstract

The method involves determining additional load indicator resulting from a load (2) arranged on or in a vehicle (1). The additional load indicator is determined on the basis of a course of a dynamic change of a staggering angle of the vehicle at its rolling axis in dependence on the vehicle of working transverse accelerations. An independent claim is included for a device for the operation of a vehicle.

Description

The The invention relates to a method for operating a vehicle.

From the DE 10 2004 055 856 A1 For example, a method and an apparatus for estimating a center of gravity of a vehicle are known. For this purpose, a detection unit which determines a weight load indicative of a weight load, and an evaluation unit, which determines based on the determined weight load a the center of gravity position of the vehicle reproducing center of gravity position size provided. In this case, the detection unit is arranged in spatial proximity of an attachable in the roof area of the vehicle additional load, wherein the evaluation determines the center of gravity position size based on the indicative of the additional load weight load size. The center of gravity position size is used to control and / or regulate a tripping characteristic of a driver assistance system.

Furthermore, from the DE 37 11 239 C2 a device for securing movable chargers, in particular wheel loaders, tracked transporters or forklifts, known against tipping during loading and / or method of a load. In this case, a load measuring device comprises at least three pressure and / or strain gauges, which are arranged on the chassis near a support point to the roadway. The load measuring device has signal lines for connecting the load measuring device with a freely programmable switching mechanism, wherein the switching mechanism of measurement data and known position data of the load measuring device determines a center of gravity of the load and possibly the charger and compares with a predetermined setpoint or a setpoint field for a permissible center of gravity. If a maximum permissible center of gravity is exceeded from the setpoint or when the setpoint value field is exceeded, a signal is generated.

Of the Invention is based on the object, an improved method and to provide an improved device for operating a vehicle.

The Task is according to the invention in terms of Method by the in claim 1 and in terms of the device solved by the features specified in claim 8. advantageous Further developments of the invention are the subject of the dependent claims.

The inventive method for operating a vehicle Provides one from one on and / or in the vehicle Last resulting load indicator is determined, which in Profiting way a load of the vehicle is detected, without additional components for detecting the load, d. H. a load, are required.

advantageous Embodiments of the invention will become apparent from the dependent Claims.

It it is understood that the above and the following yet to be explained features not only in each case specified combination, but also in other combinations or be used in isolation, without the scope of the present To leave invention.

Preferably becomes the payload indicator based on a history of a dynamic change a roll angle of the vehicle about its roll axis in dependence determined on the vehicle acting lateral acceleration. hereby is a statement regarding the tilting behavior of a vehicle or vehicle type allows. That is, for example, that in the case of a recognized roof load, a load-adapted conditioning a driver assistance system - z. B. Electronic Stability Program - done. In a profitable way, it does not matter if it is in the Load around a roof load and / or arranged in a vehicle interior Last act.

The Roll axis of the vehicle is in particular a combination of rolling centers a front and a rear axle of the vehicle. About that In addition, the roll axis can also be referred to as a roll axis.

Preferably is the roll angle for an unloaded vehicle and for a loaded vehicle determined and additionally measured. Furthermore, the measured roll angle and the roll angle for a laden and an unloaded vehicle against each other, in particular by a recursive least squares method, adjusted. This can be done without additional Sensor technology to determine the payload indicator.

Conveniently, is based on Einfederwegen the roll angle of the vehicle to the Roll axis, from the roll rate, from the vertical acceleration or the rolling acceleration determined, which on already installed sensors can be used and consequently no additional costs arise.

It is furthermore advantageous if the payload indicator is supplied to the vehicle as an input variable, in particular as an input variable of a driver assistance system. This makes it possible that based on a threshold value of the load can decide whether the driver assistance system uses a control strategy with adapted parameters.

Especially is the driver assistance system an electronic one Stability program, with the electronic stability program from reaching the threshold with respect to the additional Rolling moment in drive, brake and / or steering functions as output variables of the electronic stability program.

Thereby, that the driver assistance system when driving according to a Load is regulated and / or controlled is actually a load is shown a risk of tipping, d. H. Wankens of the vehicle avoided around the roll axis due to heavy steering movements.

embodiments The invention will be explained in more detail with reference to a drawing.

there demonstrate:

1 schematically a vehicle with a load arranged on a vehicle roof.

2 a flow chart of the method according to the invention.

each other corresponding parts are in the figures with the same reference numerals Mistake.

In 1 is a vehicle 1 represented on the vehicle roof a load 2 in the form of a box-shaped transport container 2.1 is arranged, the vehicle 1 via a driver assistance system, in particular an electronic stability program.

The electronic stability program serves in particular to prevent and / or reduce lateral dynamic instabilities of the vehicle 1 , In this case, the electronic stability program is activated if a tripping characteristic of the electronic stability program determining trigger conditions are met. For this purpose, the electronic stability program has a control unit.

are meets the trigger conditions, the electronic attacks Stability program in drive, brake and / or steering functions as output variables of the electronic stability program controlling, whereby a driving safety is increased.

Due to the fact that on the vehicle roof the load 2 in the form of the transport container 2.1 is arranged, a position of a vehicle center point changes S. When the vehicle is not loaded 1 ie on or in the vehicle 1 If no load is arranged, the vehicle center of gravity S is located at a first position P1 (dashed circle), as in FIG 1 shown.

Due to the load arranged on the vehicle roof 2 the vehicle center of gravity S shifts in the direction of the load 2 , causing the vehicle 1 when driving, for example when cornering larger rolling movements than in a vehicle 1 without load 2 , The vehicle center of gravity 2 is located by the load 2 at a second position P2.

In this case, the term rolling particularly refers to a rotational movement of the vehicle 1 around its roll axis. Rolling movements result from the vehicle 1 acting lateral acceleration, as they arise, for example, by cornering. The higher the vehicle center of gravity S due to a load 2 lies, the more the rolling motions of the vehicle take 1 at the vehicle 1 acting lateral accelerations too.

2 shows a method in the form of a multi-model approach for determining a payload indicator λ, wherein the multi-model of three - preferably - parallel strands G1, G2, G3 is formed. The method has a first model approach A for determining a roll angle Δφ, wherein the roll angle Δφ _{load is load-} dependent, ie in which a load 2 in or on the vehicle 1 Is accepted. Furthermore, a second model approach B for determining a roll angle Δφ is _empty in the _empty state of the vehicle 1 shown, with further model approaches are also conceivable.

To determine the payload indicator λ, the load-dependent roll angle Δφ _{load is} calculated in the first strand G1.

This is initially a lateral acceleration a S y captured and fed to the first model approach A. The information about the lateral accelerations a S y is the electronic stability program anyway available, which can be dispensed with additional sensors. Since a roll inertia J _load , a roll stiffness C _d , a damping coefficient k _d , a height h _{load of} the center of gravity S, a rolling speed Δφ. as well as a roll acceleration Δφ .. are known sizes, can be by entering the lateral accelerations a S y the roll angle Δφ _load for the loaded vehicle 1 calculate and supply to a matching unit C.

The same takes place in the third strand G3, in which case the roll angle Δφ is _empty for an empty vehicle 1 , based on the known sizes for an empty vehicle 1 , is calculated.

In the second strand G2 a measured roll angle Δφ _{m is} shown, which can be determined, for example, from roll rate and / or travel, etc., and wherein the measured roll angle Δφ _{m is} also the adjustment unit C is supplied.

The measured roll angle Δφ _m , the roll angle Δφ _empty for an empty vehicle 1 and the roll angle Δφ _load for a loaded vehicle 1 are compared in the adjustment unit C against each other, the payload indicator λ is calculated, which in turn as an input, in particular as input to a driver assistance system, the vehicle 1 is supplied.

The calculation of the payload indicator λ preferably takes place by means of a recursive method for least error squares, this being made possible, for example, by the following formula: (Δφ m - Δφ empty ) = λ (Δφ load - Δφ empty )

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102004055856 A1 [0002]
• - DE 3711239 C2 [0003]

Claims (8)

Method for operating a vehicle ( 1 ), characterized in that one from one on or in the vehicle ( 1 ) arranged load ( 2 ) resulting payload indicator (λ) is determined. A method according to claim 1, characterized in that the load indicator (λ) based on a course of a dynamic change of a roll angle (Δφ) of the vehicle ( 1 ) about its roll axis in dependence on the vehicle ( 1 ) acting lateral accelerations ( a S y ) is determined. A method according to claim 1 or 2, characterized in that the roll angle (Δφ) for an unloaded vehicle ( 1 ) and for a loaded vehicle ( 1 ) is determined. Method according to one of the preceding claims, characterized in that the roll angle (Δφ _m ) is measured. Method according to one of the preceding claims, characterized in that the measured roll angle (Δφ _m ) and the roll angle (Δφ _empty ) for an unloaded vehicle ( 1 ) and the roll angle (Δφ _load ) for a loaded vehicle ( 1 ) are compared against each other, in particular by a recursive method for least squares. Method according to one of the preceding claims, characterized in that on the basis of compression travel the measured roll angle (Δφ _m ) of the vehicle ( 1 ) is determined about its roll axis, from the roll rate and / or from the vertical acceleration and / or from the roll acceleration. Method according to one of the preceding claims, characterized in that the load indicator (λ) as an input variable, in particular as an input variable of a driver assistance system, the vehicle ( 1 ) is supplied. Device for operating a vehicle ( 1 ), characterized in that at least one detection unit is provided, by means of which a compression travel of the vehicle ( 1 ) is detectable and the detected compression travel can be supplied to a computing unit and wherein the computing unit comprises means for generating a control current for controlling an actuator.