CN105172789A - 用于匹配在漂滑情形下的转向比的方法 - Google Patents

用于匹配在漂滑情形下的转向比的方法 Download PDF

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CN105172789A
CN105172789A CN201510300649.XA CN201510300649A CN105172789A CN 105172789 A CN105172789 A CN 105172789A CN 201510300649 A CN201510300649 A CN 201510300649A CN 105172789 A CN105172789 A CN 105172789A
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drift
turning rate
sliding situation
sliding
accordance
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M.瓦格纳
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
    • 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
    • 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
    • B62D6/006—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 using a measured or estimated road friction coefficient
    • 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
    • B60W2520/26—Wheel slip
    • 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
    • B60W2520/28—Wheel 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

Abstract

本发明涉及用于匹配在漂滑情形下的转向比的方法。在用于匹配在漂滑情形下的机动车的伺服转向装置或者主动转向装置的转向比的方法中-探测漂滑情形的存在并且-在识别出漂滑情形存在的情况下，减小转向比。

Description

用于匹配在漂滑情形下的转向比的方法
技术领域
本发明涉及用于匹配在漂滑情形下的转向比的方法。
背景技术
从DE102009055190A1中已知一种用于识别在行驶期间位于车辆前方的水洼的方法。在这种情况中，借助于光源来照射平坦的行车道区域并且传感地获得从该行车道区域所反射的光，其中当由传感器所接收的光满足预先设定的特性时，就识别出水洼。
发明内容
本发明涉及一种用于匹配在漂滑情形下的机动车的伺服转向装置或者主动转向装置的转向比的方法，其中
-探测漂滑情形的存在并且
-在识别出漂滑情形存在的情况下减小转向比。
由此，在出现漂滑情形的情况下，以简单的方式和方法减轻了驾驶员过度反应的后果。
本发明的一种有利的设计方案的特征在于，除了降低所述转向比外还附加地施行无关于驾驶员的对马达力矩的降低。通过附加的的速度减小，进一步减小了源于漂滑的危险。
本发明的一种有利的设计方案的特征在于，在所述漂滑情形结束之后，从被减小的值起始，再次提高所述转向比到漂滑情形之前所存在的值。
本发明的一种有利的设计方案的特征在于，借助于对至少一个车轮转速传感器的输出信号的评估来识别漂滑情形的存在。
本发明的一种有利设计的特征在于，借助于视觉、听觉或者触觉的警告信息来告知驾驶员关于转向比的降低的信息。
此外，本发明包括一种装置，它含有设计用于执行前述的方法的器件。在这种情况中，它尤其指的是一种控制器，在该控制器中储存了用于执行根据本发明的方法的程序代码。
附图说明
附图包括图1和图2。
图1示出了原始的转向比的下降和之后再度建立的时间进程；
图2以框图的形式在上方框图中示出了用于主动转向装置的并且在下方的框图中示出了用于伺服转向装置的本发明的结构。
具体实施方式
在出现漂滑的情况下，轮胎浮游在水膜上并且不能够将力再传递到行车道上。这导致的是，在恒定的行驶踏板位置的情况下，大多使得马达转速升高。于是例如当所述车辆在浮游过程期间在所述水膜上转动并且之后偏离于原始的行驶方向利用单个的车轮再次到达硬实的地底时，情况就较危险。然后马上会形成一种转矩，该转矩能够导致打滑。
只要所述车辆还保持定向在行驶方向上，那么不必预期更大的危险。因此，在识别出漂滑的情况下，避免驾驶员的过度反应就成为必要。在识别出漂滑的情况下，通过以下方式使得驾驶员的过度反应变得困难，即降低伺服转向装置的强化或者说在主动转向的情况下降低传动比。此外，附加地有意义的是降低马达力矩，从而所述车辆再次迅捷地到达不临界的速度范围中。
当前的漂滑情形的识别能够通过评估行驶动态调节的传感信号而进行。有利的是，告知或者说警告所述驾驶员不仅关于马达力矩的降低也关于转向强度的降低的信息。
在图1中展示了伺服转向装置的加强因子或者说转向比的时间曲线。对此，沿着横坐标方向绘出时间并且沿着纵坐标方向绘出加强因子。在时刻T0以前，加强因子具有值L0。在时刻T0，所述车辆陷入漂滑情形中。接着，在时刻T1以前，所述加强因子根据预先设定的函数而降低到值L1。在这种情况中，在图1中，它指的是线性函数。转向装置的加强因子保持这种被降低的值L1直到时刻T2，在该时刻T2将漂滑情形探测为结束或者说不再存在。之后，在时刻T终之前，所述加强因子根据预先设定的函数再次升高到值L终并且保持该最终值L终。在这种情况中，尤其适用L终=L0。当然也可能的是，在比T2更晚的时刻才将所述加强因子再次升高。
在图2中以框图的形式针对主动转向装置和伺服转向装置展示了本发明的结构。在这种情况中相应地200表示驾驶员、201表示用于漂滑识别的传感装置、202表示漂滑探测单元并且207表示车辆。
在上方的框图中，将传感装置201的输出信号进一步传递到漂滑探测单元202。该漂滑探测单元再操控主动转向装置的计算单元203，该计算单元给所述主动转向装置的执行器204除了由驾驶员200所预先设定的驾驶员转向角外还额外地预先设定了附加转向角。在车辆207的转向系统中转化该附加转向角。
在伺服转向装置的情况下看起来非常相似，在下方的框图中示出了该伺服转向装置。在那里在框205中，依据漂滑探测而求取加强因子，该加强因子馈入伺服转向装置206中。

Claims (6)

1.用于匹配在漂滑情形下的机动车的伺服转向装置（206）或者主动转向装置（204）的转向比的方法，其中
-探测（202）漂滑情形的存在并且
-在识别出漂滑情形存在的情况下减小转向比（L1）。
2.按照权利要求1所述的方法，其特征在于，除了减小所述转向比外还附加地施行无关于驾驶员的对马达力矩的降低。
3.按照权利要求1所述的方法，其特征在于，在所述漂滑情形结束之后，从被减小的值（L1）起始，再次提高所述转向比到漂滑情形之前所存在的值（L0）。
4.按照权利要求1所述的方法，其特征在于，借助于评估至少一个车轮转速传感器（201）的输出信号来识别漂滑情形的存在。
5.按照权利要求1所述的方法，其特征在于，借助于视觉、听觉或者触觉的警告信息来告知驾驶员关于转向比的降低的信息。
6.含有专门设计用于执行前述方法的器件的装置。
CN201510300649.XA 2014-06-05 2015-06-04 用于匹配在漂滑情形下的转向比的方法 Pending CN105172789A (zh)

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DE102014210796.2A DE102014210796A1 (de) 2014-06-05 2014-06-05 Verfahren zur Anpassung der Lenkübersetzung bei einer Aquaplaningsituation
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DE102018207222A1 (de) * 2018-05-09 2019-11-14 Bayerische Motoren Werke Aktiengesellschaft Verringerung einer Auswirkung einer Schreckreaktion eines Fahrers eines Kraftfahrzeugs
DE102018207225A1 (de) * 2018-05-09 2019-11-14 Bayerische Motoren Werke Aktiengesellschaft Verhinderung einer möglichen Verstärkung einer Schreckreaktion eines Fahrers eines Kraftfahrzeugs

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0512264A2 (de) * 1991-05-10 1992-11-11 TEMIC TELEFUNKEN microelectronic GmbH Antiaquaplaningsystem für ein Kraftfahrzeug
CN101348115A (zh) * 2007-07-18 2009-01-21 丰田自动车株式会社 打滑控制设备和打滑控制方法
CN101983153A (zh) * 2008-04-02 2011-03-02 罗伯特·博世有限公司 用于驾驶员辅助的方法和设备
CN102438880A (zh) * 2009-06-17 2012-05-02 罗伯特·博世有限公司 用于在车辆转向系统中影响转向力矩的方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
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DE102009055190B4 (de) 2009-12-22 2024-04-25 Robert Bosch Gmbh Verfahren zum Erkennen von vor einem Fahrzeug liegenden Pfützen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0512264A2 (de) * 1991-05-10 1992-11-11 TEMIC TELEFUNKEN microelectronic GmbH Antiaquaplaningsystem für ein Kraftfahrzeug
CN101348115A (zh) * 2007-07-18 2009-01-21 丰田自动车株式会社 打滑控制设备和打滑控制方法
CN101983153A (zh) * 2008-04-02 2011-03-02 罗伯特·博世有限公司 用于驾驶员辅助的方法和设备
CN102438880A (zh) * 2009-06-17 2012-05-02 罗伯特·博世有限公司 用于在车辆转向系统中影响转向力矩的方法

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FR3021941B1 (fr) 2020-03-06
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Application publication date: 20151223