CN104828082A - 用于防止可转向的机动车倾翻的方法和设备 - Google Patents

用于防止可转向的机动车倾翻的方法和设备 Download PDF

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Publication number
CN104828082A
CN104828082A CN201510062806.8A CN201510062806A CN104828082A CN 104828082 A CN104828082 A CN 104828082A CN 201510062806 A CN201510062806 A CN 201510062806A CN 104828082 A CN104828082 A CN 104828082A
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CN
China
Prior art keywords
motor vehicle
steering angle
self
propelled vehicle
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510062806.8A
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English (en)
Chinese (zh)
Inventor
R.贝克
C.施密特
B.布赫塔拉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
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Publication of CN104828082A publication Critical patent/CN104828082A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • 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
    • 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
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • 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
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • 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
    • B60T2260/022—Rear-wheel steering; Four-wheel steering
    • 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
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/121—Fork lift trucks, Clarks
    • 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201510062806.8A 2014-02-07 2015-02-06 用于防止可转向的机动车倾翻的方法和设备 Pending CN104828082A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014202230.4A DE102014202230A1 (de) 2014-02-07 2014-02-07 Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs
DE102014202230.4 2014-02-07

Publications (1)

Publication Number Publication Date
CN104828082A true CN104828082A (zh) 2015-08-12

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CN201510062806.8A Pending CN104828082A (zh) 2014-02-07 2015-02-06 用于防止可转向的机动车倾翻的方法和设备

Country Status (4)

Country Link
KR (1) KR20150093615A (enExample)
CN (1) CN104828082A (enExample)
DE (1) DE102014202230A1 (enExample)
IN (1) IN2015DE00315A (enExample)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109625082A (zh) * 2018-12-14 2019-04-16 山海特种装备股份有限公司 一种用于集装货物装载机的转向控制装置及方法
CN109693664A (zh) * 2017-10-23 2019-04-30 王飞 一种防止汽车侧翻系统及控制策略
CN113696885A (zh) * 2020-05-20 2021-11-26 宝马格有限公司 施工机械及提高施工机械的稳定性的方法
US11654956B2 (en) * 2019-12-23 2023-05-23 Robert Bosch Gmbh Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control
CN119872685A (zh) * 2024-12-24 2025-04-25 湖南中联重科智能高空作业机械有限公司 用于高空作业设备的控制方法、装置及高空作业设备

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DE102015118472A1 (de) * 2015-10-29 2017-05-04 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Lastteil und einem Antriebsteil
DE102016123104A1 (de) * 2016-11-30 2018-05-30 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Bremssteuerung
AU2017393176B2 (en) * 2017-01-13 2023-05-11 Crown Equipment Corporation High speed straight ahead tiller desensitization
JP7081117B2 (ja) 2017-11-06 2022-06-07 いすゞ自動車株式会社 操舵制御装置及び操舵制御方法
DE102018213552A1 (de) * 2018-03-21 2019-09-26 Bayerische Motoren Werke Aktiengesellschaft Betriebsverfahren, Vorrichtung, sowie korrespondierendes Computerprodukt zum Betreiben eines Fahrzeugs
DE102018115043A1 (de) * 2018-06-22 2019-12-24 Thyssenkrupp Ag Verfahren zur Ermittlung eines Radumfanges anhand der gemessenen Gierrate
CN110949370A (zh) * 2019-03-18 2020-04-03 长城汽车股份有限公司 自动驾驶车辆的安全监测方法、系统及运动控制系统
DE102021207263A1 (de) 2021-07-09 2023-01-12 Volkswagen Aktiengesellschaft Verfahren und Steuervorrichtung zum Vermeiden eines Kippens eines Kraftfahrzeugs mit Steer-by-Wire Lenkung und Kraftfahrzeug
DE102021121163A1 (de) 2021-08-13 2023-02-16 Danfoss Power Solutions Gmbh & Co. Ohg Verbesserter Teleskoplader
KR102745870B1 (ko) * 2023-01-17 2024-12-23 에이치엘만도 주식회사 후륜 조향 장치 및 이의 제어 방법

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CN1765669A (zh) * 2004-10-25 2006-05-03 三菱自动车工业株式会社 车辆转弯状态控制装置
JP2007131297A (ja) * 2005-10-13 2007-05-31 Toyota Motor Corp Ｏｓまたはｕｓを段階的に異なる手段で抑制する車輌
CN101025387A (zh) * 2006-01-12 2007-08-29 通用汽车环球科技运作公司 用于车辆侧翻控制的侧倾稳定性指标
CN101157359A (zh) * 2007-11-29 2008-04-09 三一重工股份有限公司 一种液压底盘工程机械转向控制系统
CN101830225A (zh) * 2010-05-13 2010-09-15 吉林大学 工程车辆主动防倾翻控制系统和方法
CN102529959A (zh) * 2010-12-31 2012-07-04 财团法人车辆研究测试中心 车辆翻覆预防安全系统及其方法
CN103121447A (zh) * 2013-03-19 2013-05-29 大连理工大学 一种弯道防侧滑侧翻自动控制系统及方法

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DE19624308A1 (de) 1996-06-18 1998-01-02 Still Wagner Gmbh & Co Kg Verfahren zum Betreiben eines Flurförderzeugs und Flurförderzeug zur Durchführung des Verfahrens

Patent Citations (7)

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Publication number Priority date Publication date Assignee Title
CN1765669A (zh) * 2004-10-25 2006-05-03 三菱自动车工业株式会社 车辆转弯状态控制装置
JP2007131297A (ja) * 2005-10-13 2007-05-31 Toyota Motor Corp Ｏｓまたはｕｓを段階的に異なる手段で抑制する車輌
CN101025387A (zh) * 2006-01-12 2007-08-29 通用汽车环球科技运作公司 用于车辆侧翻控制的侧倾稳定性指标
CN101157359A (zh) * 2007-11-29 2008-04-09 三一重工股份有限公司 一种液压底盘工程机械转向控制系统
CN101830225A (zh) * 2010-05-13 2010-09-15 吉林大学 工程车辆主动防倾翻控制系统和方法
CN102529959A (zh) * 2010-12-31 2012-07-04 财团法人车辆研究测试中心 车辆翻覆预防安全系统及其方法
CN103121447A (zh) * 2013-03-19 2013-05-29 大连理工大学 一种弯道防侧滑侧翻自动控制系统及方法

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109693664A (zh) * 2017-10-23 2019-04-30 王飞 一种防止汽车侧翻系统及控制策略
CN109625082A (zh) * 2018-12-14 2019-04-16 山海特种装备股份有限公司 一种用于集装货物装载机的转向控制装置及方法
US11654956B2 (en) * 2019-12-23 2023-05-23 Robert Bosch Gmbh Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control
CN113696885A (zh) * 2020-05-20 2021-11-26 宝马格有限公司 施工机械及提高施工机械的稳定性的方法
CN113696885B (zh) * 2020-05-20 2024-02-20 宝马格有限公司 施工机械及提高施工机械的稳定性的方法
CN119872685A (zh) * 2024-12-24 2025-04-25 湖南中联重科智能高空作业机械有限公司 用于高空作业设备的控制方法、装置及高空作业设备

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KR20150093615A (ko) 2015-08-18
IN2015DE00315A (enExample) 2015-08-14

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Application publication date: 20150812