CN104442809A - Brake yaw compensation method and motor vehicle - Google Patents

Brake yaw compensation method and motor vehicle Download PDF

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Publication number
CN104442809A
CN104442809A CN201410483753.2A CN201410483753A CN104442809A CN 104442809 A CN104442809 A CN 104442809A CN 201410483753 A CN201410483753 A CN 201410483753A CN 104442809 A CN104442809 A CN 104442809A
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CN
China
Prior art keywords
compensation method
power actuated
braking
actuated vehicle
wheel
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Granted
Application number
CN201410483753.2A
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Chinese (zh)
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CN104442809B (en
Inventor
马丁·塞杰
弗兰克·皮特·恩格斯
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Ford Global Technologies LLC
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Ford Global Technologies LLC
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Publication of CN104442809A publication Critical patent/CN104442809A/en
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Publication of CN104442809B publication Critical patent/CN104442809B/en
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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
    • 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
    • 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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • 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
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention protects a brake yaw compensation method (30) used to a motor vehicle (10). A practical yaw state (36) of the motor vehicle (10) is determined by at least one driving dynamics state variable (32) during practical value determination of brake operation of the motor vehicle (10); a set point yaw state (37) of the motor vehicle (10) is determined by at least one input variable (35); then a comparison is made between the practical yaw state (36) and the set point yaw state (37); and if a deviation exists between the practical yaw state (36) and the set point yaw state (37), a steering angle of at least one wheel (11,12) of the motor vehicle (10) is adjusted during steering angle adjustment (22). The invention further protects a motor vehicle (10) executing the brake yaw compensation method (30).

Description

Braking yaw compensation method and power actuated vehicle
Technical field
The present invention relates to a kind of braking yaw compensation method and relate to a kind of power actuated vehicle.
Background technology
On the rolling stock, in brake operation course, particularly in spike stop operating process, regardless of the single braking force of lateral symmetry, e.g., if the center of gravity of power actuated vehicle is outside the central longitudinal axis of power actuated vehicle, have the braking yaw of undesired power actuated vehicle.In braking yaw process, power actuated vehicle is brought into the route of the route that is departed to want.
Summary of the invention
Basic goal of the present invention eliminates these shortcomings and provides a kind of braking yaw compensation method for compensating braking yaw and a kind of power actuated vehicle.
This object is by means of following braking yaw compensation method and realize by means of following power actuated vehicle.Favourable development of the present invention is noted in part below and is illustrated in the description.
According to of the present invention in the braking yaw compensation method of power actuated vehicle, the actual driftage state of power actuated vehicle drives dynamics state variable to determine by least one during the actual value during motor vehicle brake operation is determined, and the set point of power actuated vehicle driftage state is determined by least one input variable in set-point value is determined.Then, actual driftage state and set point go off course state matching ratio comparatively.If actual driftage state and the set point state of driftage have deviation, at least one wheel turning angle adjustment of execution machine motor vehicle in deflection angle adjustment.
Therefore, advantageously, the route keeping power actuated vehicle to want at chaufeur is possible, no matter braking yaw, does not need the intervention of chaufeur and chaufeur not to note braking yaw.Thus, the driver comfort of enhancing can be provided by means of braking yaw compensation method according to the present invention.
In the preferred embodiment of braking yaw compensation method according to the present invention, in the side with deviation, the front wheel steering angle of execution machine motor vehicle adjusts in the opposite direction.
Like this, can easily implement according to braking yaw compensation method of the present invention in the current power actuated vehicle with active front wheel steering.
In alternative preferred embodiment of braking yaw compensation method according to the present invention, adjust at the rear-axle steering angle of the direction execution machine motor vehicle consistent with the direction of deviation.
In brake operation course, in order to make power actuated vehicle stablize, compared with trailing wheel, make larger single Braking in front-wheel.Compensate by means of the braking yaw at trailing wheel, the extra side force acting on front-wheel due to deflection angle adjustment can be avoided.Therefore, front-wheel can perform more braking work.
In alternative preferred embodiment of braking yaw compensation method according to the present invention, in the side with deviation, the front wheel steering angle of execution machine motor vehicle adjusts in the opposite direction, meanwhile, adjust at the rear-axle steering angle of the direction execution machine motor vehicle consistent with the direction of deviation.
In this embodiment, the advantage of the adjustment of front axle deflection angle and the adjustment of rear axle deflection angle is combined.Make more to become possibility to the effect of braking yaw actv..
In another preferred embodiment of braking yaw compensation method according to the present invention, angular acceleration and/or lateral acceleration and/or yaw rate are confirmed as driving dynamics state variable.Particularly, the steering wheel angle of the bearing circle of power actuated vehicle is confirmed as input variable.
These data can be determined by means of sensor, in its Already in current vehicle.Therefore, it is possible to the enforcement of low cost is according to braking yaw compensation method of the present invention.
In another preferred embodiment of braking yaw compensation method according to the present invention, in brake operation course, in essence, the braking force acted on the central longitudinal axis of power actuated vehicle is the summation of all single braking forces.In addition, force of inertia particularly acts on the inertia longitudinal axis, and the inertia longitudinal axis has the lateral excursion relative to central longitudinal axis.
Therefore, the braking yaw situation that the single braking force with lateral symmetry occurs also is considered.
In another preferred embodiment of braking yaw compensation method according to the present invention, adjust with deflection angle and carry out braking force modulation simultaneously.
Therefore, it is possible for offsetting braking yaw extraly in the mode of stabilization system.
Power actuated vehicle according to the present invention comprises the steering swivel system that at least one is connected to wheel, and this steering swivel system has the actuator of the deflection angle for adjusting wheel.In addition, this power actuated vehicle has control unit, its control and drive system and be designed to perform in all of the embodiments illustrated according to braking yaw compensation method of the present invention.
Therefore, power actuated vehicle according to the present invention has good drive safety and higher traveling comfort.This power actuated vehicle keep the route wanted and this chaufeur by the puzzlement of braking yaw.
Accompanying drawing explanation
Exemplary embodiment of the present invention has carried out explaining in more detail by means of accompanying drawing and the following description.In the accompanying drawings:
Fig. 1 shows in brake operation course according to power actuated vehicle of the present invention.
Fig. 2 shows the power actuated vehicle according to another embodiment in braking yaw compensation method of the present invention.
Fig. 3 shows the power actuated vehicle of another embodiment in braking yaw compensation method according to another embodiment of the invention, and
Fig. 4 diagrammatically illustrates according to braking yaw compensation method of the present invention.
Reference numerals list
10 power actuated vehicles
11 front-wheels
12 trailing wheels
The 13 inertia longitudinal axis
14 central longitudinal axis
15 lateral excursions
16 centers of gravity
17 force of inertias
18 braking forces
19 routes wanted
20 routes departed from
21 actual paths
22 deflection angle adjustment
23 deviations
24 steering swivel systems
25 actuators
26 control units
30 braking yaw compensation methodes
31 start
32 drive dynamics state variable
33 actual values are determined
34 set-point values are determined
35 input variables
36 actual driftage states
37 set point driftage states
38 compare
39 braking force modulation
40 terminate
Detailed description of the invention
In Fig. 1 is to 3, illustratively describe according to power actuated vehicle 10 of the present invention.Power actuated vehicle 10 according to the present invention has at least one steering swivel system 24.Wheel 11,12 in the front axle of this steering swivel system 24 and power actuated vehicle 10 or rear axle is operably connected.According to the present invention, this steering swivel system 24 comprises actuator 25 and is so designed the deflection angle for adjusting wheel 11,12.In the embodiment shown in Fig. 1 and Fig. 2, power actuated vehicle 10 has this steering swivel system 24 at front axle.Here, this steering swivel system 24 is connected to front-wheel 11 to allow the transmission of power.The embodiment according to power actuated vehicle 10 of the present invention as shown in Figure 3, additionally has this steering swivel system 24 in rear axle.This steering swivel system 24 in rear axle is connected to the trailing wheel 12 of power actuated vehicle 10 to allow the transmission of power.According to the present invention, the rear axle that this steering swivel system 24 is only arranged on power actuated vehicle 10 is also possible.
This steering swivel system 24 is active front steering systems 24.If this steering swivel system 24 is arranged on front axle, especially, it is superposing type steering swivel system, wherein, and the angle that on the deflection angle of the front-wheel 11 that the actuator 25 being in particular electrical motor inputs at chaufeur, superposition one is extra.If this steering swivel system 24 is arranged on rear axle, it is rear-wheel steering system, and it adjusts the deflection angle of trailing wheel 12 by means of actuator 25.
According to the present invention, actuator 25 is controlled by the control unit 26 of power actuated vehicle 10.Therefore, it is possible for implementing braking yaw compensation method 30 according to the present invention with power actuated vehicle 10 according to the present invention.
If do not use braking yaw compensation method 30, in brake operation course, due to undesired driftage behavior, power actuated vehicle 10 moves to the route 20 departed from from the route 19 wanted.Here, power actuated vehicle 10 presents the deviation 23 between the set point driftage state 37 wanted and undesired true driftage state 36.In braking yaw compensation method 30 according to the present invention, this deviation 23 is cancelled by means of deflection angle adjustment 22 as follows, that is, power actuated vehicle 10 adopts the true route 21 corresponding to the route 19 wanted.
The deviation 23 that actual driftage state 36 and set point are gone off course between state 37 is caused by yawing moment, and this yawing moment is that the fact having a center of gravity 16 of the outside of the central longitudinal axis 14 being positioned at power actuated vehicle 10 by the power actuated vehicle 10 particularly shown in Fig. 1 to Fig. 3 in power actuated vehicle 10 braking procedure causes.The axle that center of gravity 16 is positioned at---is called the inertia longitudinal axis 13 here---and has the lateral excursion 15 relative to central longitudinal axis 14.In this case, in essence, central longitudinal axis 14 is the wheels 11 of the power actuated vehicle 10 be positioned on horizontal surface, the geometric centre between 12.Here, transversal displacement 15 is illustrated by the projection of the inertia longitudinal axis 13 and central longitudinal axis 14 on horizontal surface.In the brake operation course of power actuated vehicle 10, due to lateral excursion 15, force of inertia 17 and braking force 18 work when relative to each other offseting in a horizontal plane equally.Force of inertia 17 acts on the inertia longitudinal axis 13 and braking force 18 acts on central longitudinal axis 14.According to the present invention, the braking force 18 acting on central longitudinal axis 14 is the summations of all single braking force worked.The lateral excursion 15 of force of inertia 17 and braking force 18 causes undesired yawing moment.
Especially, when power actuated vehicle 10 belongs to compact car classification and has relatively low quality, the body weight of the chaufeur that non-central authorities settle may be enough to cause the lateral excursion 15 between force of inertia 17 and braking force 18 and cause undesired yawing moment.
Another possible reason of the appearance of yawing moment may be the wheelspan adjustment of the mistake of the wheel of power actuated vehicle 10.
According to meaning of the present invention, the brake operating of power actuated vehicle 10 occurs in when power actuated vehicle is braked by means of brake equipment.Particularly, the brake equipment of brake operating is caused to be friction brake.According to the present invention, brake equipment is fluid power or electronic retarder, and produce the driving motor of resisting moment, regeneration system, electrical generator or power-absorption fan are also possible.In brake operation course, power and/or moment are applied on wheel 11,12 as follows, namely, power actuated vehicle 10 gait of march in the horizontal plane reduces, or gait of march does not increase according to downward grades compared with the speed caused separately by slope or do not reducing to a greater extent according to uphill gradient.
In the diagram, from 31 to describe according to braking yaw compensation method 30 of the present invention to end 40 in graphic mode.In braking yaw compensation method according to the present invention, in the brake operation course of power actuated vehicle 10, the true driftage state 36 of power actuated vehicle 10 is determined to drive dynamics state variable 32 to determine by least one in 33 at actual value.Here, especially, dynamics state variable is driven to be the current angular acceleration of power actuated vehicle 10 and/or current lateral acceleration and/or current driftage state.In order to determine the actual driftage state of power actuated vehicle 10, wheel velocity also can be used as to drive dynamics state variable.
In addition, in braking yaw compensation method 30 according to the present invention, the set point driftage state 37 of power actuated vehicle 10 is determined to determine according at least one input variable 35 in 34 at set-point value.Especially, input variable is the current steering angle of wheel 11 or is current steering wheel angle as selection.Here, term deflection angle and wheel turning angle synonym use.
In braking yaw compensation method 30 according to the present invention, then, the actual driftage state 36 determined and the set point determined go off course state 37 matching ratio compared with 38.Set point driftage state 37 shows the route 21 that chaufeur is wanted.If actual driftage state 36 departs from set point driftage state 37, this shows that power actuated vehicle 10 will adopt the route 20 departed from when not having to intervene.In order to prevent this from occurring and chaufeur implements unnecessary correction, if actual driftage state 36 and set point are gone off course, state 37 has deviation, performs the deflection angle adjustment of a wheel 11,12 of at least power actuated vehicle 10 in deflection angle adjustment 22 according to the present invention.In the process, steering wheel angle preferably remains unchanged.That is, deflection angle adjustment 22 remains on and is not noted by chaufeur to a great extent.
At least one wheel 11,12 of deflection angle adjustment 22 adjustment is from current deflection angle to the deflection angle revised.The deflection angle revised can be variable.Especially, the deflection angle of each of two wheels 11,12 in front axle and/or rear axle is adjusted.Can be different at the deflection angle of the correction of right side wheels 11,12 compared to the deflection angle of left side wheel.
According to the present invention, 22 can be adjusted at front-wheel 11 deflection angle of the square execution machine motor vehicle 10 in the opposite direction with deviation 23.Be exactly illustrate so in fig. 2.It is also possible for adjusting 22 at trailing wheel 12 deflection angle of the direction execution machine motor vehicle 10 consistent with deviation 23 direction.According to the present invention, in addition, the deflection angle simultaneously adjusting front-wheel 11 and trailing wheel 12 is also possible.In this case, adjust 22 and perform trailing wheel 12 deflection angle in the direction consistent with deviation 23 direction and adjust 22 performing front-wheel 11 deflection angle in the opposite direction with the side of deviation 23, as shown in Figure 3.
Especially, braking yaw compensation method 30 occurs under following prerequisite, and in brake operation course, in essence, the braking force 18 acted on the central longitudinal axis 14 of power actuated vehicle 10 is summations of all single braking forces.Be exactly illustrate like this in Fig. 1 is to 3.
In the embodiment of braking yaw compensation method 30 shown in Figure 4, adjust 22 with deflection angle and perform braking force simultaneously and modulate 39.Here, this model that braking force modulation 39 uses according to the known program of vehicle stabilization in the prior art carries out.In braking force modulation 39, control the single braking force on single wheel in a variable manner.Here, as the summation of all single braking forces braking force 18 active line can shift from central longitudinal axis 14.Can be eliminated relative to the lateral excursion 15 of force of inertia 17.

Claims (10)

1. the braking yaw compensation method (30) for power actuated vehicle (10), it is characterized in that, wherein, the actual driftage state (36) of power actuated vehicle (10) is that the actual value during power actuated vehicle (10) brake operating is determined to drive dynamics state variable (32) to determine by least one in (33), and the set point of power actuated vehicle (10) driftage state (37) is determined to be determined by least one input variable (35) in (34) at set-point value, then, state of reality being gone off course (36) and set point go off course state (37) matching ratio comparatively (38), if actual driftage state (36) and set point are gone off course, state (37) has deviation (23), at least one wheel (11 of execution machine motor vehicle (10) in deflection angle adjustment (22), 12) deflection angle adjustment.
2. braking yaw compensation method (30) according to claim 1, it is characterized in that, in the side with deviation (23), front-wheel (11) deflection angle of execution machine motor vehicle (10) adjusts (22) in the opposite direction.
3. braking yaw compensation method (30) according to claim 1, it is characterized in that, adjust (22) at trailing wheel (12) deflection angle in direction execution machine motor vehicle (10) consistent with the direction of deviation (23).
4. braking yaw compensation method (30) according to claim 1, it is characterized in that, in the side with deviation (23), front-wheel (11) deflection angle of execution machine motor vehicle (10) adjusts (22) in the opposite direction, meanwhile, adjust (22) at trailing wheel (12) deflection angle in direction execution machine motor vehicle (10) consistent with the direction of deviation (23).
5. according to the braking yaw compensation method (30) one of claim 1 to 4 Suo Shu, it is characterized in that, angular acceleration and/or lateral acceleration and/or yaw rate are confirmed as driving dynamics state variable (32).
6. according to the braking yaw compensation method (30) one of claim 1 to 5 Suo Shu, it is characterized in that, the steering wheel angle of the bearing circle of power actuated vehicle (10) is confirmed as input variable (35).
7. according to the braking yaw compensation method (30) one of claim 1 to 6 Suo Shu, it is characterized in that, in brake operation course, the braking force (18) acted on the central longitudinal axis (14) of power actuated vehicle (10) is the summation of all single braking forces in essence.
8. braking yaw compensation method (30) according to claim 7, it is characterized in that, in brake operation course, force of inertia (17) acts on the inertia longitudinal axis (13), and the inertia longitudinal axis (13) has the lateral excursion (15) relative to central longitudinal axis (14).
9. according to the braking yaw compensation method (30) one of claim 1 to 8 Suo Shu, it is characterized in that, adjust (22) with deflection angle and perform braking force simultaneously and modulate (39).
10. a power actuated vehicle (10), it is characterized in that, it has at least one and is connected to wheel (11,12) steering swivel system (24), described steering swivel system has for adjusting wheel (11,12) actuator (25) of deflection angle, described power actuated vehicle has control unit (26), its control and drive system (25) and be designed to enforcement of rights and require one of 1 to 9 described braking yaw compensation methodes (30).
CN201410483753.2A 2013-09-20 2014-09-19 Braking yaw compensation method and motor vehicle Active CN104442809B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201310218919 DE102013218919A1 (en) 2013-09-20 2013-09-20 Bremsgierkompensationsverfahren and motor vehicle
DE102013218919.2 2013-09-20

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CN104442809A true CN104442809A (en) 2015-03-25
CN104442809B CN104442809B (en) 2019-12-10

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IT201800008042A1 (en) * 2018-08-10 2020-02-10 Freni Brembo Spa Vehicle braking system with asymmetrical braking
DE102022110816A1 (en) * 2021-06-14 2022-12-15 Schaeffler Technologies AG & Co. KG Electrically operable final drive train, method of operating an electrically operable final drive train, computer program product and control unit

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