CN103507813B - Method for carrying out confidence level test to the tractive force of vehicle - Google Patents
Method for carrying out confidence level test to the tractive force of vehicle Download PDFInfo
- Publication number
- CN103507813B CN103507813B CN201310254978.6A CN201310254978A CN103507813B CN 103507813 B CN103507813 B CN 103507813B CN 201310254978 A CN201310254978 A CN 201310254978A CN 103507813 B CN103507813 B CN 103507813B
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- vehicle
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- traction
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012360 testing method Methods 0.000 title claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 62
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 238000010998 test method Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000002485 combustion reaction Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
Classifications
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
-
- 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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal 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
- B60W2520/16—Pitch
-
- 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
- B60W2520/18—Roll
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- 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
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The present invention relates to one kind to be used for vehicle（2）Tractive force（24）The method for carrying out confidence level test（23）, including：Determine vehicle（2）Along travel direction（4）Actual traction acceleration（24）；Detect specified traction acceleration（54）；And in specified traction acceleration（54）On the basis of draw acceleration to actual（24）Carry out confidence level test（58）.
Description
Technical field
The present invention relates generally to the vehicle monitoring system in a kind of vehicle, especially vehicle.In addition the invention further relates to
In the method that the tractive force to vehicle carries out confidence level test.
Background technology
Such as the confidence level test of parameter for internal combustion engine in vehicle is disclosed by the A1 of DE 10 2,006 054 043
Engine controller.Engine controller is carried using a kind of multilayer surface model to monitor by driver such as internal combustion engine or motor
The torque of confession.Here, rated moment is calculated in monitoring aspect and by it compared with actual torque.
The content of the invention
According to the present invention, provide a kind of method for being used for the tractive force progress confidence level test to vehicle and one kind and be used for
The control device of tractive force progress confidence level test to vehicle and the vehicle with this control device.
According to the first aspect of the invention, a kind of side for being used to carry out the tractive force of vehicle confidence level test is provided
Method, this method comprise the following steps：
- determine actual traction acceleration of the vehicle along travel direction；
The specified traction acceleration of-detection；And
- confidence level test is carried out to actual traction acceleration on the basis of specified traction acceleration.
Illustrated method is based on such consideration, i.e. can start the engine controller of the type herein
If determine actual torque with stem algorithm indirectly in monitoring aspect.
One thought of preceding method is based on the recognition, i.e. is used for multiple-motor vehicle this, such as mixing is moved
In the engine controller of power vehicle, it is necessary to perform monitoring for each driving type personalizedly, that is to say, that monitoring is each
The individual torque discharged by machine.
The present invention is based on the recognition that, i.e. in this way, appear in the single engine for being directed to vehicle traction
The error occurred in summation is found when will not personalized monitor each single engine.Therefore it is proposed that, supervise
Control resultant couple and confidence level test is carried out to this resultant couple.Because resultant couple directly regains in vehicle traction,
So it is proposed that, by can for example being utilized by the predetermined specified traction acceleration of driver or engine controller for vehicle
The actual traction acceleration of vehicle makees confidence level test.
The actual traction acceleration of vehicle can be detected in any manner in principle.Therefore can with suitable sensor come
Measure or with suitable model come the actual traction acceleration of simulating vehicle.
It is particularly advantageous that vehicle is considered rigid body when it is determined that reality draws acceleration.It can use in this way
Small number of parameter calculates the actual traction acceleration of vehicle with the algorithm of rigid body engineering mechanics.
In addition, in order to establish algorithm, the physical characteristic of vehicle in vehicle dynamics, rather than torque producer can be utilized
That is, the physical characteristic of internal combustion engine and/or motor.Extension design is considered based on such, i.e. aforementioned algorism in principle can be with
Divergently, that is, redundantly design.But it is true that they are based on same physics.The algorithm of diverging is used to cause in torque monitoring
Difference in torque will not cause error to be reacted quickly.Model bias is must account for herein and implements deviation.This can cause larger
Error threshold.Therefore the monitoring so described is considered as even better according to safe practice, in this monitoring, algorithm and work
Based on physics be different from regulation rule algorithm and physics（That is, the monitoring from vehicle dynamics, from torque
The regulation rule of producer）.
In a kind of extension design of methods described, the driving acceleration of vehicle is driven based on actual traction acceleration
Dynamic acceleration as vehicle to wave caused coriolis force, the coriolis force as caused by the deflection of vehicle and with because pitching is delivered to
Gravity on the tractive force of vehicle is corrected.Monitoring to vehicle reaction carries when compensating earth acceleration and Coriolis acceleration
An acceleration signal is supplied, the acceleration signal is only related to inertia and driving force.Driven in this way by one and vehicle
Model in dynamic unrelated physics and computing technique carries out confidence level test to vehicle traction.
In another extension design of methods described, when actually the traction specified traction acceleration of acceleration offset is predetermined
During value, an error is sent in order to carry out the test of the confidence level of actual traction acceleration.Then can in any way, such as
By switch to emergence program, by sending warning signal or by the way that error log is stored into error memory and to error
React.
In the special extension design of one kind of methods described, as the reaction to error, the driving for limiting vehicle adds
Speed, thus avoid vehicle and can not be controlled due to the error tried to achieve by driver.
In another extension design of methods described, the diagnosis to vehicle is imported as the reaction to error, so as to
Find out the device caused in the actually deviation between traction acceleration and specified traction acceleration.In this way can be with evaluated error
Seriousness and import error measure type.
According to another aspect of the present invention, illustrate a kind of equipment, especially a kind of computing unit, it is used for vehicle
Tractive force carries out confidence level test, wherein, the equipment is configured to：
- determine actual traction acceleration of the vehicle along travel direction；
The specified traction acceleration of-detection；And
- confidence level test is carried out to actual traction acceleration on the basis of specified traction acceleration.
In other words, the equipment is arranged for carrying out methods described and therefore can expanded as methods described to have
There is the feature of the dependent claims for methods described.
In addition, equipment also has memory and processor.Deposited here, methods described is stored in the form of a computer program
In reservoir and processor is provided for implementing methods described when computer program is loaded into processor from memory.
According to another aspect of the present invention, if a kind of vehicle, it includes described control device.
According to another aspect of the present invention, illustrate a kind of computer program with program coding instrument, should to work as
Computer program performs all steps of methods described when implementing on computer or the equipment.
According to another aspect of the present invention, illustrate a kind of computer program product, it includes program coding, program coding
It is stored in computer-readable data medium, and is performed when the program coding is carried out in data processing equipment
Methods described.
Brief description of the drawings
Currently preferred form of implementation is hereinafter explained in detail by accompanying drawing.In accompanying drawing：
Fig. 1 is the schematic diagram of vehicle；
Fig. 2 is the method for the tractive force of vehicle performed in a part for engine controller, for calculating Fig. 1
Flow chart.
The same or analogous element identical reference of function is marked and only illustrated once in accompanying drawing.
Embodiment
With reference to figure 1, that schematically shows vehicle 2.
Vehicle 2 can move along unshowned road towards travel direction 4.Vehicle 2 can surround three not during traveling
Same axle rotates.
First axle 6, call x- axles 6 in the following text, be collinearly orientated with travel direction 4.Vehicle 2 can surround x-axis 6 with sway velocity 8
Wave., may be because vehicle 2 be along travel direction 4 when the lifting of afterbody 12 of the relative vehicle 2 of car body 10 of vehicle 2 or when declining
Just vehicle acceleration 9 negative in other words and this motion occurs.
Second axle 14, calls z-axis 14 in the following text, and normal direction is orientated in the runway of road.Vehicle can surround z-axis with deflection speed 16
14 deflections.But even if vehicle is out of hand due to understeer or ovdersteering during turning driving, this motion is also produced.Car
2 are pressed towards runway in the opposite direction with normal acceleration 17 and z-axis 14.
3rd axle 18, call y-axis 18 in the following text, be orientated at a right angle with x-axis 6 and z-axis 14.Vehicle 2 can be enclosed with luffing speed 20
Around the pitching of y-axis 18.This motion is for example produced in turning driving due to centrifugal force, and vehicle 2 is used CENTRIFUGAL ACCELERATING by centrifugal force
21 normal direction are spent in travel direction 4 and parallel to genuine push outwardly on of driving a vehicle.
With reference to figure 2, it is the side of the tractive force 24 of vehicle 2 performed in engine controller 22, for calculating Fig. 1
The flow chart of method 23.Tractive force 24 is the time-derivative of speed herein and is thus acceleration, the row shown in vehicle along Fig. 1
Sailing direction 4 has this acceleration.When the power feed-in vehicle acceleration 9 only as caused by driving, other power being applied on vehicle
Also the tractive force 24 of feed-in vehicle 2, this is inquired into thereafter.
In order to perform methods described, speed is waved with the measurement of sensor 26 commonly known per se on the traveling mechanism 25 of vehicle 2
Degree 8, luffing speed 20 and deflection speed 16 and vehicle acceleration 9, centrifugal acceleration 21 and normal acceleration 17.
The value of measured parameter 8,9,16,17,20,21 is further transferred to the signal in engine control system 22
Processing unit 28, the parameter 8,9,16,17,20,21 measured is changed into a kind of lattice that can be handled in computing technique by it
Formula.Therefore, the parameter 8,9,16,17,20,21 measured for example can be scanned, filters and standardize（Normalization）.
In orienting device 30, vehicle 2 is determined on the basis of sway velocity 8, luffing speed 20 and deflection speed 16
Position on runway.Therefore, in technical staff for example as known to the A1 of DE 10 2,008 013 102 position model 31
On the basis of determine position angle change 32, angle of oscillation change 34 and deflection angle change 36, they are integrated into position by integrator 38
Angle 40, angle of oscillation 42 and deflection angle 44.These angles 40,42,44 represent Fig. 1 vehicle 2 with respect to the axle 6,14,18 shown in Fig. 1
Relative position.
In a subsequent step, by by technical staff equally for example as known to the A1 of DE 10 2,008 013 102
Fast track surgery 46 calculates the tractive force 24 influenceed by Coriolis acceleration, transverse acceleration 48 and normal acceleration 50.They are
The iteration renewal of Fast track surgery 46 and be integrated and led back to Fast track surgery 46 in integrator 52.
Then the tractive force 24 that is calculated can be selected from the acceleration 24,48,50 being calculated and with technology
Mode known to personnel contrasts with predetermined tractive force 54, and predetermined tractive force for example can be from the position of the accelerator pedal 56 of vehicle
Put and derive.
In the present embodiment, contrast and carried out in own contrast device 58, contrast device by two tractive force 24,54
It is compared to each other and sends error signal 60 during predetermined difference between more than two tractive force.
Then error signal 60 can be reacted in a particular manner.Therefore error signal 60 can be over the display
Show, be stored in error memory or for triggering vehicle diagnostics.
All elements for contributing to driving can be generally monitored in this way, such as one or more of vehicle internal combustion engine
And/or motor, and confidence level test is carried out to their common caused tractive force.
Claims (8)
1. one kind is used for vehicle（2）Tractive force carry out confidence level test method（23）, including：
- determine vehicle（2）Along travel direction（4）Actual traction acceleration（24）；
The specified traction acceleration of-detection（54）；And
- in specified traction acceleration（54）On the basis of draw acceleration to actual（24）Carry out confidence level test（58）,
Wherein, the driving acceleration of vehicle（9）Acceleration is drawn with actual（24）Based on, the driving acceleration is with by vehicle
（2）Wave（8）Caused coriolis force, by vehicle（2）Deflection（16）Caused coriolis force and with because of pitching（20）Transmit
To vehicle（2）Tractive force on gravity（17）Corrected.
2. the method as described in claim 1（23）, wherein, it is determined that actual traction acceleration（24）When by vehicle（2）It is regarded as
Rigid body.
3. the method as described in one of preceding claims（23）, wherein, in order to draw acceleration to actual（24）Carry out credible
Degree test, actually drawing acceleration（24）Deviate specified traction acceleration（54）Error is sent during predetermined value（60）.
4. the method as described in claim 3（23）, wherein, as to error（60）Reaction, limit vehicle（2）Driving add
Speed（9）.
5. the method as described in claim 3（23）, wherein, as to error（60）Reaction, import to vehicle（2）Examine
It is disconnected, to find vehicle（2）In cause actual traction acceleration（24）And rated acceleration（54）Between deviation device.
6. one kind is used for vehicle（2）Tractive force carry out confidence level test equipment（22）, wherein, the equipment（22）Construction is used
In：
- determine vehicle（2）Along travel direction（4）Actual traction acceleration（24）；
The specified traction acceleration of-detection（54）；And
- in specified traction acceleration（54）On the basis of draw acceleration to actual（24）Confidence level test is carried out,
Wherein, the driving acceleration of vehicle（9）Acceleration is drawn with actual（24）Based on, the driving acceleration is with by vehicle
（2）Wave（8）Caused coriolis force, by vehicle（2）Deflection（16）Caused coriolis force and with because of pitching（20）Transmit
To vehicle（2）Tractive force on gravity（17）Corrected.
7. the equipment as described in claim 6（22）, wherein, the equipment is computing unit.
A kind of 8. vehicle（2）, including the equipment as described in claim 6（22）.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012210793.2 | 2012-06-26 | ||
| DE102012210793.2A DE102012210793B4 (en) | 2012-06-26 | 2012-06-26 | Method for checking the plausibility of a drive of a vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103507813A CN103507813A (en) | 2014-01-15 |
| CN103507813B true CN103507813B (en) | 2017-12-26 |
Family
ID=49754024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310254978.6A Expired - Fee Related CN103507813B (en) | 2012-06-26 | 2013-06-25 | Method for carrying out confidence level test to the tractive force of vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103507813B (en) |
| DE (1) | DE102012210793B4 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT517836B1 (en) * | 2015-11-19 | 2017-05-15 | Avl List Gmbh | Method and test bench for carrying out a test for a test object |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006018790A1 (en) * | 2006-04-22 | 2007-10-25 | Zf Friedrichshafen Ag | Component e.g. power engine, functionality testing method for drive train of motor vehicle, involves concluding malfunctioning in drive train of vehicle if measured longitudinal acceleration differs from calculated longitudinal acceleration |
| DE102007001674A1 (en) * | 2007-01-11 | 2008-07-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining drive torque of motor vehicle, involves determining drive torque from determined longitudinal acceleration of motor vehicle and determined change of height level at axle of motor vehicle |
| CN101287630A (en) * | 2005-10-13 | 2008-10-15 | 卢卡斯汽车股份有限公司 | Electronic stability program for a land vehicle |
| CN102186691A (en) * | 2008-10-16 | 2011-09-14 | 罗伯特·博世有限公司 | Method for increasing the availability of hybrid vehicles |
| CN102452391A (en) * | 2010-10-29 | 2012-05-16 | 株式会社爱德克斯 | Vehicle movement control apparatus and vehicle movement control method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006054043A1 (en) | 2006-11-16 | 2008-05-21 | Volkswagen Ag | Internal combustion engine with exhaust gas recirculation |
| DE102008013102A1 (en) | 2007-10-19 | 2009-04-23 | Robert Bosch Gmbh | Method for driving state observation |
-
2012
- 2012-06-26 DE DE102012210793.2A patent/DE102012210793B4/en not_active Expired - Fee Related
-
2013
- 2013-06-25 CN CN201310254978.6A patent/CN103507813B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101287630A (en) * | 2005-10-13 | 2008-10-15 | 卢卡斯汽车股份有限公司 | Electronic stability program for a land vehicle |
| DE102006018790A1 (en) * | 2006-04-22 | 2007-10-25 | Zf Friedrichshafen Ag | Component e.g. power engine, functionality testing method for drive train of motor vehicle, involves concluding malfunctioning in drive train of vehicle if measured longitudinal acceleration differs from calculated longitudinal acceleration |
| DE102007001674A1 (en) * | 2007-01-11 | 2008-07-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining drive torque of motor vehicle, involves determining drive torque from determined longitudinal acceleration of motor vehicle and determined change of height level at axle of motor vehicle |
| CN102186691A (en) * | 2008-10-16 | 2011-09-14 | 罗伯特·博世有限公司 | Method for increasing the availability of hybrid vehicles |
| CN102452391A (en) * | 2010-10-29 | 2012-05-16 | 株式会社爱德克斯 | Vehicle movement control apparatus and vehicle movement control method |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102012210793A1 (en) | 2014-01-02 |
| CN103507813A (en) | 2014-01-15 |
| DE102012210793B4 (en) | 2014-08-28 |
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