CN106042926A - Method for safety monitoring of a drive in a motor vehicle - Google Patents
Method for safety monitoring of a drive in a motor vehicle Download PDFInfo
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- CN106042926A CN106042926A CN201610205027.3A CN201610205027A CN106042926A CN 106042926 A CN106042926 A CN 106042926A CN 201610205027 A CN201610205027 A CN 201610205027A CN 106042926 A CN106042926 A CN 106042926A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 title claims abstract description 12
- 230000004044 response Effects 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 123
- 230000008859 change Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000003321 amplification Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000015654 memory Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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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
- 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
- B60W50/032—Fixing failures by repairing failed parts, e.g. loosening a sticking valve
-
- 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
- B60W2050/022—Actuator failures
-
- 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
- B60W2520/26—Wheel slip
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a method for safety monitoring of a drive in a motor vehicle which generats an error signal (F) in a fault condition, wherein it is determined whether a fault exists in which an unintentional slip value existing on at least one of the driving axles of the motor vehicle, and at least one error reaction parameter (y) of a control device (2) of the motor vehicle is adjusted when an unintentional slip value of at least one of the driving axles of the motor vehicle was to determine, wherein the at least one error reaction parameter (y) changes response time period (T) of the control unit (2) for outputting the error signal (F) .
Description
Technical field
The present invention relates to a kind of method for the driving means in motor vehicles being carried out security monitoring and for implementing computing unit and the computer program of described method.
Background technology
For (positive or negative) acceleration unintentionally that prevent motor vehicles, that such as cause due to the software fault in motor controller or gearbox controller or hardware fault, based on moment or based on acceleration 3-aspect-monitor or monitor can be set.If the motor torque known or the motor vehicles known accelerate insincere and/or exceeded permission, for the motor torque known or the ultimate value of motor vehicles acceleration known, the most described 3-aspect-monitoring triggering fault reaction.Described fault reaction can be such as fuel supply cut-out and/or motor vehicles driving means rotating speed limit.
When carrying out 3-aspect-monitoring based on acceleration, such as can be by the test and appraisal of rated moment being determined expected vehicle acceleration or specified vehicle acceleration.Additionally, such as determine the actual vehicle acceleration of motor vehicles by means of acceleration sensor.Failure condition is relatively inferred, if the most described actual vehicle acceleration exceedes described specified vehicle acceleration with certain yardstick for amplitude by described actual vehicle acceleration and described specified vehicle acceleration.But, such monitoring picture based on acceleration is at DE 10
2001 075 509 A1 equally allow due to the small change of acceleration value in the travel situations of attachment loss (Haftungsabriss) detection the most in the following manner reliably: the most described actual vehicle acceleration exceedes described specified vehicle with certain yardstick for amplitude to accelerate.This point occurs the most in a case where: motor vehicles have low-friction coefficient (μ r ~
0.3) carry out moving (this situation is particularly likely to can be occurred under poor weather condition, such as when snowing or rain) and the most such as providing due to torque error or accelerator pedal fault maximum driving moment when constant airspeed and steering wheel angle are constant with the 2/3 of the transverse acceleration possible, constant on circuit orbit radius of maximum on runway.This may cause the skidding of described driving wheel or drive shaft, and this is likely to be due to again oversteering or understeer and causes leaving the consequence in track.
Therefore, for there is demand for the driving means in motor vehicles being carried out the improved method of security monitoring.
Summary of the invention
According to the present invention, it is proposed that have feature described in independent claims, for the driving means in motor vehicles being carried out the method for security monitoring and for implementing computing unit and the computer program of described method.Favourable design is the theme of dependent claims and following description.
For for for the method that the driving means in motor vehicles carries out security monitoring, determine whether there is failure condition in the first step, the coefficient that trackslips unintentionally (Schlupfwert) is there is at least one drive shaft in the drive shaft of described motor vehicles, say, that the wheel of the most described drive shaft turns too fast in the case of measuring actual gait of march significantly or turns the slowest under described failure condition.
Once driving force or brake force are delivered on wheel, occur as soon as less, be not equal to the coefficient that trackslips of zero.This coefficient that trackslips depends on described speed and the power transmitted.If so making described wheel accelerate tempestuously or braking, thus exceed the attachment frictional force of maximum, then trackslip and just increase, until being likely to occur uncontrolled skidding (sliding) or the slip/locking (slip) of wheel.
In another step, the coefficient if it is determined that trackslip unintentionally, then at least one fault reaction parameter of the controller of described motor vehicles is adjusted, wherein, the duration of response for exporting fault-signal of at least one fault reaction parameter change controller described.Described duration of response is carried out indirectly or directly adjusting by the existence situation thus according to the coefficient that trackslips unintentionally.By the adjustment at least one fault reaction parameter described, improve the sensitivity of described Fault Identification the most targetedly.If the small change of described acceleration value only occurs as being exactly such as this situation in the turning driving situation described by beginning in the travel situations of attachment loss, fault the most thus can also be detected.In at least one drive shaft, whether there is that wanted by the driver of described motor vehicles or the undesired coefficient that trackslips by detection, especially by mistake skid at described driving wheel or drive shaft or improve the sensitivity of Fault Identification and in the travel situations that driving wheel or drive shaft skid wittingly, improve the tolerance of Fault Identification during locking.
In failure condition, the most advantageously start fault reaction, say, that be that timing reduces torque and/or limits rotating speed at the coefficient that trackslips, and disconnect the torque (such as by the disconnection of clutch) of described drive shaft when the coefficient that trackslips is negative.
In one embodiment, in order to determine whether there is failure condition, longitudinal direction of car acceleration and the parameter depending on axle acceleration (Achsbeschleunigung) (longitudinal acceleration namely produced with physical dimension (wheel size etc.)) by the rotary acceleration of described drive shaft are compared, if and described longitudinal direction of car acceleration in actual embodiment preferably with more than can be previously given threshold value deviate described parameter for amplitude, then infer the coefficient that trackslips unintentionally.If longitudinal direction of car acceleration is less than described parameter, then this means that positive trackslipping, the most described drive shaft turn the fastest.If described longitudinal direction of car acceleration is more than described parameter, then this means that negative trackslipping, the most described drive shaft turn the slowest.Described longitudinal direction of car acceleration such as can be by measurement technology, such as know by means of acceleration transducer, and described axle acceleration the most such as can be derived from described axletree rotation speed change.Described parameter can be especially described axle acceleration itself.
In other embodiments, described motor vehicles, the grade acceleration of (by descending from caused by power) enters among described parameter.For this, using described longitudinal direction of car acceleration with as parameter, the difference that is made up of axle acceleration and maximum grade acceleration (Steigungsbeschleunigung) compares, if and described longitudinal direction of car acceleration in actual embodiment preferably with more than can be previously given threshold value deviate described parameter for amplitude, then infer the coefficient that trackslips unintentionally.Thus, it is corrected this mode by the maximum grade acceleration with motor vehicles for amplitude, improves the detection for failure condition further.Described grade acceleration such as can determine from by means of the gradient measured by tilt sensor.
According to one preferred embodiment, in order to determine described axle acceleration, the axle speeds of at least one drive shaft, namely rotating speed are tested and assessed.Therefore in mode simple in measurement technology such as by determining described axle acceleration for the numerical differentiation of described axle speeds.As an alternative or additional project, it is also possible to directly or indirectly detect and test and assess other the such as torque, power of physical assessment parameter, energy and/or power.
In other embodiments, if depending on that the parameter of described longitudinal direction of car acceleration more than described motor vehicles, maximum allowable the limit acceleration or less than the limit acceleration allowed described motor vehicles, minimum, then infers the coefficient that trackslips unintentionally.Described maximum allowable accekeration is equivalent to the maximum longitudinal acceleration value that can be provided in the case of in view of current running status (coming previously given basically by accelerator pedal position) by described driving means.The described minimum accekeration allowed is equivalent to the minimum longitudinal acceleration value can expected in the case of in view of current running status (coming previously given basically by accelerator pedal position) by described driving means.Described parameter can be especially described longitudinal direction of car acceleration itself.
In other embodiments, use the summation being made up of the inertial acceleration of described longitudinal direction of car acceleration and described driving means as the described parameter depending on longitudinal direction of car acceleration." inertial acceleration " means the angular acceleration that the moment of inertia by described driving means and torque produce.It describes the change of the acceleration of the inside of described driving means, the most especially motor rotary speed and vehicle wheel rotational speed.It such as determines by means of the numerical differentiation for these rotating speeds.If the torque of described driving means can not be converted into longitudinal acceleration due to low-friction coefficient, then greatly significantly increase or reduce the share of this rotation compared with described longitudinal acceleration.By the extra detection for described inertial acceleration and consider in view of driver expect moment, described driver expect moment be only reflected in the change of described rotational speed of driving unit rather than be reflected in reality translation longitudinal direction of car acceleration change in.
In in other embodiments, determine for the assessment parameter of described failure condition and export described fault-signal according to described assessment parameter.The output of described fault-signal can accordingly based upon described fault, the seriousness that shown by described assessment parameter accelerated or postpones.If the coefficient that trackslips described in deviation reference value (coefficient=0 of trackslipping) is the most severe, the most more quickly exports described fault-signal, and this causes the raising of safety.
In other embodiments, the summation being made up of described longitudinal direction of car acceleration and described inertial acceleration is formed in order to determine described assessment parameter.Thereby taking into account the possible total acceleration of described motor vehicles, this improves safety.
In other embodiments, in order to determine that described assessment parameter uses maximum allowable the limit acceleration or the minimum the limit acceleration allowed.Described the limit acceleration is such as come compared with the described summation being made up of the acceleration of longitudinal direction of car acceleration and rotation by subtraction.The most only when exceeding described maximum allowable the limit acceleration or less than described minimum allow the limit acceleration time infer failure condition, which improve the precision of detection for described failure condition.
In other embodiments, determine the threshold value for described assessment parameter according to described fault reaction parameter, wherein, carry out the output of fault-signal when described assessment parameter exceedes described threshold value.Thus in failure condition or occurring reducing in the case of attachment loss the level of the threshold value for described assessment parameter, this again shorten described controller until for the duration of response exporting fault-signal.
In in other embodiments, determine the factor for described assessment parameter according to described fault reaction parameter.If exporting described fault-signal according to the described assessment parameter amplified as amplitude with a factor, then cause the further raising of safety.
Especially being configured in program technic by the computing unit of the present invention, such as controller of motor vehicles is implemented in the present inventive method.
Realize described method in the form of software to be also advantageous, because this cost caused is the lowest, if the most designed controller is additionally operable to other task and the most natively exists.For providing suitable data medium especially CD, hard disk, flash memories, EEPROM, CD-ROM, DVD and other data mediums of computer program.Computer network (the Internet, Intranet etc.) can also be passed through download.
Other advantages of the present invention and design obtain from specification and drawings.
Self-evident, feature noted earlier and to be explained can not only use in the combination of respective description, and also is able to use in other combination or be used alone, without deviating from the scope of the present invention.
Accompanying drawing explanation
The present invention is schematically depicted in the drawings by means of a kind of embodiment and is described in detail with reference to the accompanying drawings.
Fig. 1 show in a schematic a kind of signal graph preferred embodiment of the present invention.
Detailed description of the invention
Fig. 1 shows the schematic diagram of the signal graph of security function in a preferred embodiment, and described security function realizes in the controller 2, such as motor controller of motor vehicles.The situation of what described security function aligned trackslip coefficient, i.e. wheel-slip is described.When then producing the coefficient that trackslips, the i.e. wheel lock up born for the corresponding adjustment of comparing element.
Described controller 2 is configured to the computing unit of motor vehicles for the driving means of this motor vehicles carries out security monitoring, and produces fault-signal F in failure condition.
If described motor vehicles carries out moving and the most such as providing the driving moment of described maximum due to torque error/accelerator pedal fault with the 2/3 of the transverse acceleration possible, constant on circuit orbit radius of maximum when constant airspeed and steering wheel angle are constant on the runway with low-friction coefficient (μ r ~ 0.3), the most such as there is failure condition: consequence is probably attachment loss, owing to motor vehicles described in described attachment loss leaves its track.Here, " attachment loss " refers to skidding as the probability for the coefficient that trackslips unintentionally unintentionally of at least one drive shaft of described motor vehicles.
The security function illustrated in described controller 2 has five input adapters and an out splice going splice.
Described first input adapter is that the axle acceleration a_axle of at least one drive shaft of described motor vehicles is arranged, described second input adapter is that the grade acceleration a_slope of described motor vehicles is arranged, described 3rd (constituting doubly) input adapter is that the measured value of actual vehicle longitudinal acceleration a_laengs of the travel direction along described motor vehicles is arranged, described 4th (constituting doubly) input adapter is that the inertial acceleration a_rot of the driving means of described motor vehicles is arranged, and the maximum allowable the limit acceleration a_zul_max that described 5th (constituting doubly) input adapter is described motor vehicles is arranged.
Described axle acceleration a_axle such as can be obtained by differential (Differenzierung) to each axletree, by means of vehicle wheel rotational speed, be tried to achieve through average this mode of rotary acceleration maximizing, such as, try to achieve according to below equation:
V/H: front/rear
R/L: right/left.
The grade acceleration a_slope of described motor vehicles can be determined by angle of gradient α measured by means of Slope Transducer, such as, determine according to below equation:
a_slope=g*sinα
G: acceleration of gravity.
Actual vehicle longitudinal acceleration a_laengs along travel direction can be known by means of acceleration transducer.
The inertial acceleration a_rot of the driving means of motor vehicles can be determined by the differential for motor rotary speed and the drive components of vehicle wheel rotational speed and the most other rotation.
The maximum allowable the limit acceleration a_zul_max of motor vehicles can be determined by the temporal gradient of accelerator pedal position and described accelerator pedal position.Advantageously, additionally positive and/or negative torque request is listed in by the driver assistance system (ESP, ASR, ACC ...) that works and described determine.
The out splice going splice of described controller 2 is configured to export fault-signal F when a fault condition exists.In the ongoing illustrated embodiment, described fault-signal F is the HIGH having in failure condition in logic and the binary signal of the LOW having in non-faulting situation in logic.
Additionally, described security function has first subtractor the 4, first comparator 6, AND element 8, the reversing switch 10 that can manipulate, first adder the 12, second comparator 14, second adder the 16, second subtractor 18, maximum determiner 20 and integrator 22.
To the axle acceleration a_axle and grade acceleration a_slope of described first subtractor 4 conveyer motor-car as input parameter.Described first subtractor 4 provides difference diff_a_s as output parameter.
Described poor diff_a_s is flowed to described first comparator 6 as input parameter as longitudinal direction of car acceleration a_laengs, if described poor diff_a_s is more than described longitudinal direction of car acceleration a_laengs, then this first comparator provides HIGH signal in logic as output signal.Otherwise it is provided with LOW signal in logic.
Carrying the acceleration a_rot of the longitudinal direction of car acceleration a_laengs of described motor vehicles and the rotation of driving means thereof as input parameter to described first adder 12, described first adder provides summation a_sum being made up of described longitudinal direction of car acceleration a_laengs and described inertial acceleration a_rot as output parameter.
Described summation a_sum is flowed to described second comparator 14 as input parameter as maximum allowable the limit acceleration a_zul_max, if described summation a_sum is more than described maximum allowable the limit acceleration a_zul_max, then this second comparator provides HIGH signal in logic as output signal.Otherwise it is provided with LOW signal in logic.
As input parameter, two logical signals of described first comparator 6 and the second comparator 14 are flowed to AND element 8, if said two logical signal is HIGH, then this AND element provides HIGH signal in logic as output signal.Otherwise it is provided with LOW signal in logic.
The logic output signal of described AND element 8 is flowed to the described reversing switch 10 that can manipulate as manipulation signal AS.If the logic output signal of described AND element 8 is HIGH in logic, then the quickly response for the controller 2 for exporting fault-signal F selects at numerical value present on joint 26 and delivers this to described integrator 22.And if the logic output signal of described AND element 8 is LOW in logic, then the slowly response for the controller 2 for exporting fault-signal F selects at numerical value present on joint 24 and delivers this to described integrator 22.
Described integrator 22 is configured to: input signal is integrated (aufintegrieren) and exports the numerical value (integrator value) through integration.Described integrator value it is restricted to downwards at numerical value present on input MN and is upwards restricted at numerical value present on input MX.Additionally, described integrator 22 has the amplification coefficient K that can select, amplify the input signal of described integrator 22 with this amplification coefficient.The most described integrator value reaches described at numerical value present on input MX, and described integrator just exports described fault-signal F.
Additionally, to described second adder 16 carry the longitudinal direction of car acceleration a_laengs of described motor vehicles and the inertial acceleration a_rot of driving means thereof as input parameter, described second adder provides the most again described summation a_sum as output parameter.
As input parameter, described summation a_sum and described maximum allowable the limit acceleration a_zul_max are flowed to described second subtractor 18, and this second subtractor provides described assessment parameter G as output parameter.
As input parameter, described assessment parameter G is flowed to described maximum determiner 20, and this maximum determiner suppresses or leaches the negative value of described assessment parameter G.Positive output signal is flowed to described integrator 22 as input parameter as positive assessment parameter x.
It is in operation, the most such as, measures described longitudinal direction of car acceleration a_laengs with acceleration transducer.Additionally, such as determine described axle acceleration a_axle together with differential subsequently by detecting for axle speeds or axletree rotating speed.Additionally, determine or read in described grade acceleration a_slope, described inertial acceleration a_rot and described maximum allowable the limit acceleration a_zul_max.
In another step, carry the axle acceleration a_axle of described motor vehicles and the grade acceleration a_slope of maximum thereof to described first subtractor 4.Described first subtractor provides described poor diff_a_s as output parameter, this difference is flowed to as described longitudinal direction of car acceleration a_laengs described first comparator 6, if described poor diff_a_s is more than described longitudinal direction of car acceleration a_laengs, then this first comparator provides HIGH signal in logic as output signal.If one or more drive shaft of the most described motor vehicles is skidded, then provide HIGH signal in logic.
Additionally, be in operation, another step carries to described first adder 12 the longitudinal direction of car acceleration a_laengs and the inertial acceleration a_rot of driving means thereof of described motor vehicles.Described first adder provides summation a_sum as output parameter.By described summation a_sum as described in flow to described second comparator 14 maximum allowable the limit acceleration a_zul_max, if described summation a_sum is more than described maximum allowable the limit acceleration a_zul_max, then this second comparator provides HIGH signal in logic as output signal.If one or more drive shaft of the most described motor vehicles is by mistake skidded, then provide HIGH signal in logic.
In addition, it is in operation, said two logical signal is coupled together by another step with described AND element 8, thus only at least one drive shaft at described motor vehicles by mistake skid in the case of on the outfan of described AND element 8, there is signal.The logic output signal of described AND element 8 is flowed to the described reversing switch 10 that can manipulate as manipulation signal AS, select fault reaction parameter y hence for quickly response for the controller 2 for exporting fault-signal F for the logic output signal for HIGH in logic of described AND element 8 and deliver this to described integrator 22, this fault reaction parameter y causes the threshold value of described integrator 22 to reduce, in order to cause the result providing described fault-signal F on described out splice going splice.
In addition, it is in operation, described summation a_sum and described maximum allowable the limit acceleration a_zul_max flow to described second subtractor 18, and this second subtractor provides assessment parameter G as output parameter, and this assessment parameter G is flowed to described maximum determiner 20.Described maximum determiner 20 suppresses or leaches the negative value of described assessment parameter G and provide described positive assessment parameter x as output signal, and as input parameter, this positive assessment parameter x is flowed to described integrator 22.Described assessment parameter x have expressed the seriousness of described fault, say, that described in have expressed in shown example, acceleration includes the degree skidded unintentionally unintentionally.
Described positive assessment parameter x is integrated by described integrator 22.In the present example, described integrator value is restricted to downwards numerical value MN=0 and is upwards restricted to numerical value MX=y.If described integrator reaches described limit superior, then export described fault-signal F.According to whether exist on MX for quickly response, numerical value present on joint 26 or for slowly response, at numerical value present on joint 24 as limit superior, described integrator faster or more slowly enter into saturated in and export described fault-signal F.
In order to change described duration of response T, as an alternative or additional project can change described amplification coefficient K according to described fault reaction parameter, in particular for quickly reaction, K amplified and for reaction slowly, K reduced.
In order to change described duration of response T, as an alternative or additional project can also be according to the previously given described fault reaction parameter of described assessment parameter.The most such previously given described fault reaction parameter so that the highest assessment parameter causes the shortest duration of response.
By the present invention, in the case of driving wheel or drive shaft by mistake skid, improve the sensitivity of Fault Identification.Meanwhile, the tolerance of Fault Identification and is improved in the travel situations do not have attachment loss in the travel situations that driving wheel or drive shaft skid wittingly.Additionally, described method can be used for detecting the such as variator due to locking or the highest retarding moment due to electric driver and the driving wheel of locking or drive shaft in a similar fashion.
Claims (14)
1. for the method that the driving means in motor vehicles is carried out security monitoring, wherein producing fault-signal (F) in failure condition, the method has steps of:
Determine whether there is failure condition, under described failure condition, there is, at least one drive shaft in the drive shaft of motor vehicles, the coefficient that trackslips unintentionally, and
If determining, at least one drive shaft in the drive shaft of motor vehicles, the coefficient that trackslips unintentionally, then at least one fault reaction parameter (y) of the controller (2) of described motor vehicles is adjusted, wherein, at least one fault reaction parameter (y) described change controller (2) be used for exporting the duration of response (T) of fault-signal (F).
Method the most according to claim 1, wherein in order to determine whether there is failure condition, longitudinal direction of car acceleration (a_laengs) and the parameter depending on axle acceleration (a_axle) are compared, if and described longitudinal direction of car acceleration (a_laengs) deviates described parameter with the amplitude more than threshold value that can be previously given, then inferring the coefficient that trackslips unintentionally.
Method the most according to claim 2, wherein described axle acceleration (a_axle) or the difference (diff_a_s) that is made up of described axle acceleration (a_axle) and grade acceleration (a_slope) are used as described in depend on the parameter of axle acceleration (a_axle).
The most according to the method in claim 2 or 3, wherein in order to determine described axle acceleration (a_axle), the axle speeds of at least one drive shaft of motor vehicles is tested and assessed.
5. according to the method according to any one of claim 2 to 4, wherein, if depending on that the parameter of described longitudinal direction of car acceleration (a_laengs) is more than the amplitude of threshold value that can be previously given deviation motor vehicles, maximum allowable or that minimum allows the limit acceleration (a_zul_max), then to infer the coefficient that trackslips unintentionally.
Method the most according to claim 5, wherein, use described longitudinal direction of car acceleration (a_laengs) or the summation that is made up of longitudinal direction of car acceleration (a_laengs) and inertial acceleration (a_rot) be used as described in depend on the parameter of longitudinal direction of car acceleration.
7., according to method in any one of the preceding claims wherein, wherein determine the assessment parameter (G) for described failure condition, and wherein export described fault-signal according to described assessment parameter (G).
Method the most according to claim 7, wherein forms the summation (a_sum) being made up of longitudinal direction of car acceleration (a_laenges) and inertial acceleration (a_rot) to determine described assessment parameter (G).
Method the most according to claim 8, wherein uses motor vehicles, the maximum or minimum the limit acceleration (a_zul_max) allowed to determine described assessment parameter (G).
10. according to the method according to any one of claim 7 to 9, wherein, determine the threshold value for described assessment parameter (G) according to described fault reaction parameter (y), wherein, carry out the output of described fault-signal (F) when described assessment parameter (G) reaches described threshold value.
11. according to the method according to any one of claim 7 to 10, wherein according to the previously given described fault reaction parameter of described assessment parameter.
12. computing units, this computing unit is configured for implementing according to method in any one of the preceding claims wherein.
13. computer programs, when this computer program is performed on described computing unit, this computer program promotes computing unit to implement according to the method according to any one of claim 1 to 11.
14. machine-readable storage mediums, this machine-readable storage medium has the computer program face of being stored thereon, according to claim 13.
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| DE102015206077.2A DE102015206077B4 (en) | 2015-04-02 | 2015-04-02 | Method for safety monitoring of a drive in a motor vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106042926B (en) | 2020-12-18 |
| DE102015206077B4 (en) | 2021-06-24 |
| DE102015206077A1 (en) | 2016-10-06 |
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