CN107278190A - For determining method and apparatus in a motor vehicle with the presence or absence of malfunction - Google Patents
For determining method and apparatus in a motor vehicle with the presence or absence of malfunction Download PDFInfo
- Publication number
- CN107278190A CN107278190A CN201680013715.8A CN201680013715A CN107278190A CN 107278190 A CN107278190 A CN 107278190A CN 201680013715 A CN201680013715 A CN 201680013715A CN 107278190 A CN107278190 A CN 107278190A
- Authority
- CN
- China
- Prior art keywords
- manipulation
- adjustment unit
- torque
- lateral deviation
- alarm
- 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.)
- Granted
Links
Classifications
-
- 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
- B60T8/88—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
-
- 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
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
-
- 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
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/406—Test-mode; Self-diagnosis
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/411—Offset failure
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/613—ESP features related thereto
Abstract
There is the motor vehicle of motor vehicle control system for safe operation（1）Method, the motor vehicle control system include promote adjustment unit（98）, propulsion adjustment unit manipulation first component（31、32、33、34、40、100）, wherein, when the propulsion adjustment unit receives alarm in yaw rate alarm signal, the propulsion adjustment unit（98）Then so manipulate the first component（100、40）So that by the first component（100、40）The overall total lateral deviation torque produced is not more than total lateral deviation torque critical value.
Description
Background technology
The present invention relates to a kind of method for being used to determine to whether there is malfunction in a motor vehicle.In addition, the present invention is related to
And a kind of device, especially control device, the control device is arranged for performing this method.
The A1 of DE 44 38 714 disclose a kind of method of the driving power for operating and controlling vehicle, wherein, microcomputer
It is arranged for performing control function and monitoring function.Here, microcomputer is determined at least two aspects independent of each other,
Wherein, the first level performs the control function, and the second aspect performs the monitoring function.
The content of the invention
Due to for propulsion, new actuator（As they for example can in electric vehicle or motor vehicle driven by mixed power
As being implemented）Presence it is possible that mistake the lateral deviation torque of mistake may be caused to be generated.For example, this can pass through
Different wheel, mistake, asymmetric acceleration（For example, slow down, that is, the acceleration born）Produce.
Therefore, the method for safe operation motor vehicle is provided with the first aspect, wherein, the motor vehicle includes machine
Motor-car control system.The motor vehicle control system alternatively includes the vehicle dynamics adjustment unit of manipulation brake and is used for
The propulsion adjustment unit of first component is manipulated, for example can be single using the wheel of motor vehicle described in the vehicle dynamics adjustment unit
It is braked solely and independently of one another（For example, ESP- systems）, the first component hereinafter be also referred to as propulsive element,
Because they can be used generation forward travel among other things.Brake used herein is, for example, friction brake.Institute
It for example can be engine control system to state propulsion adjustment unit.The propulsive element includes engine（Especially internal combustion engine）And
And alternatively include the motor that can run to generator-type（Especially generator or starter-generator）.Pushed away when described
When entering adjustment unit and for example receiving alarm in the yaw rate alarm signal from the vehicle dynamics adjustment unit（The side
Inclined rate alarm signal can be binary signal, wherein, such as " 1 " shows there is alarm, and " 0 " shows that report is not present
It is alert）, it is described to promote adjustment unit so to manipulate the propulsive element so that by total-lateral deviation of the propulsive element entire effect
Torque is not more than always-lateral deviation torque-critical value（When mentioning " lateral deviation torque " here and hereinafter, this is especially referred to
The absolute value of the lateral deviation torque.）
This has the advantage that：Security concept for the propulsion adjustment unit can be also represented as being pushed away described
The such mistake entered in adjustment unit, the mistake produces the lateral deviation torque of mistake, enabling suitably to these mistakes
Make a response.When the propulsion adjustment unit receives the alarm in the yaw rate alarm signal, it is ensured that institute
State the part for promoting adjustment unit so manipulation to be manipulated by it so that they generally produce sufficiently small lateral deviation power
Square.In addition, the vehicle dynamics adjustment unit can produce another lateral deviation torque by the corresponding manipulation of the brake.
It is able to ensure that by the security mechanism in the vehicle dynamics adjustment unit, this other lateral deviation torque can not cause danger
The state of danger.It is able to ensure that by described, the described measure for promoting adjustment unit, the vehicle dynamics adjustment unit
The validity of the security mechanism is not lowered.
Relative to the compensation to being moved by lateral deviation caused by the wrong lateral deviation torque, methods described is especially effective
, when the wrong lateral deviation torque is caused by the mistake in the forward controller.
Here, the vehicle dynamics adjustment unit can be used these（Mistake）Lateral deviation is moved（I.e., actual-
Yaw rate）Recognize and detect to be incredible.It can abreast set, the vehicle dynamics adjustment unit is attempted to pass through phase
Regulation intervention answering, for example at brake is moved to compensate the lateral deviation.
That is, the yaw rate alarm signal received by the forward controller includes signal, the signal shows, if
The value of mistake is presented in the reality of the motor vehicle-yaw rate.
It can alternatively, or additionally set, the yaw rate alarm signal includes signal, the signal indicates whether row
Sail dynamics adjustment unit and so manipulate the part that it can be manipulated so that these parts produce lateral deviation torque.That is, institute
Signal can be included by stating yaw rate alarm signal, and the signal shows, if there is the regulation of the vehicle dynamics adjustment unit
Intervene.
The vehicle dynamics adjustment unit can be accomplished that by limiting the total-lateral deviation torque：Interference-free leads to
Cross the propulsion adjustment unit and terminate this regulation intervention.Thus, the effect for promoting adjustment unit can be with the traveling
The effect of dynamics adjustment unit is so coordinated so that the motor vehicle control system is converted into safe state.In particular,
Total-lateral deviation torque-the critical value can be zero.It thus ensure that, the propulsion adjustment unit can not be described on one's own initiative
Motor vehicle applies lateral deviation torque, that is to say, that when incredible yaw rate is acquired, lateral deviation torque-neutrality-rollback
Level is created.
The limitation of total-lateral deviation torque on being influenceed by the propulsive element can be realized by following methods：When described
When alarm is received, then the propulsion adjustment unit so manipulates motor so that the maximum regeneration power of the motor is not more than
Regeneration-critical value.This is based on the recognition：Braking moment is produced by the regeneration of the kinetic energy in moderating process, then the system
Kinetic moment enables in particular to cause the generation of lateral deviation torque, when it is asymmetrically acted on.In moderating process, the motor vehicle
The locking of rear axle also can result in the generation of lateral deviation torque.Such locking can be pressed down by limiting the maximum regeneration power
System.Meanwhile, the shortcoming on the energy of this measure is minimum, because such intervention is extremely rare.
Regeneration-the critical value is selected as such size so that total-torque is just, the total-torque is by the promotion part
Part is applied on the rear axle of the motor vehicle.Thus, the locking of the rear axle is particularly effectively prevented, because ensure that actively
Deceleration be conditioned not over the rear axle.Thus, regeneration is allowed to, and is turned as long as ensure that the engine will be greater than slowing down
The driving torque of square is applied on the rear axle, and the deceleration torque influences the regeneration.
In another aspect likely：When there is the alarm, the regeneration mode of motor is deactivated, the motor energy
It is enough to be manipulated by the propulsion adjustment unit.It means that forbidding or exiting the regeneration mode if necessary.Thus, lateral deviation power
The generation of square is particularly effectively suppressed by the engine control system.
In particular, using so-called moment of torsion-vector-function likely so that different boost torques is individually applied
Add to the wheel.These boost torques can be used the desired lateral deviation torque of generation.Similarly it is possible that wheel
The generator not set individually applies different braking moments for the wheel.
Therefore, set in another aspect：When the alarm is received, then identical it is total-torque promoted by described
Part is applied to all wheels of the motor vehicle, and the wheel can be by the propulsion adjustment unit manipulation.For example, this energy
Enough carried out by the closing of so-called moment of torsion-vector-function.Therefore, enable in particular to ensure, do not have vicious lateral deviation torque due to
Torque is individually differently applied and be applied in by wheel.
It can set in another aspect：When the alarm is received, then the propulsive element, be applied to it is described
The left side of the left wheel of motor vehicle is total-and torque and the propulsive element, the right wheel that is applied to the motor vehicle right side is total-torque
It is equally big.Therefore, enable in particular to ensure do not have vicious lateral deviation torque to pass through between the right side and left side of the motor vehicle
It is asymmetric to be applied in.
It can set in another aspect：When the alarm is received, then without the switching intervention of driver.This
It is meaningful especially for automatic transmission, because driver intervention equally also transmits torque to the motor vehicle
On the wheel, the wheel can produce lateral deviation torque.
It can set in another aspect：The manipulation of the propulsive element is so carried out so that described first to push away
Specified-the manipulation for entering part is acquired, without considering the yaw rate alarm signal（That is, independently of the yaw rate alarm signal
Number）.When the propulsion adjustment unit receives the alarm, corresponding to the specified-manipulation, desired total-lateral deviation torque
It is acquired.This is lateral deviation torque, and the lateral deviation torque is produced, when the propulsive element is actually steered with the specified-manipulation
When.When the desired total-lateral deviation torque is more than the total-lateral deviation torque-critical value, specified-manipulation of modification is acquired,
So that with this desired total-lateral deviation torque（That is, lateral deviation torque, the lateral deviation torque is produced, when the propulsive element is with described
When specified-manipulation is steered）No more than described total-lateral deviation torque-critical value.The modification it is specified-manipulation thus instead of
Specified-the manipulation.Therefore, controlling organization is particularly simply set up, and the lateral deviation torque that controlling organization monitoring does not allow is not
It is generated by the propulsive element.
In another aspect, for the side for the correctness for checking the reaction of the propulsion adjustment unit in this approach
Method is set.Here, there is provided, the yaw rate alarm signal includes test signal, wherein, the test signal shows, is
No test pattern is activation.When the alarm is received and when the test signal shows that the test pattern is activation
When, there is provided, the previously given specified-manipulation of the forward controller, the specified-manipulation, correspondingly, desired total-lateral deviation
Torque is more than the total-lateral deviation torque-critical value.It can be sentenced according to specified-manipulation of the specified-manipulation and the modification
It is disconnected, it whether there is mistake in the reaction of the propulsion adjustment unit.Therefore, the security of the motor vehicle control system is special
Do not simply increase, therefore the mistake in the wrong reaction in promoting reaction also can be disclosed for and can be had at present
The processing of effect ground.
In modification, especially when showing the yaw rate alarm signal of the alarm by the vehicle dynamics
When adjustment unit is transmitted, it can set, the propulsion adjustment unit of the vehicle dynamics adjustment unit is transmitted for activating
The signal of the test pattern, and then receive the police from the vehicle dynamics adjustment unit as the reaction to it
Report, the alarm has the test signal.Thus, to it is described propulsion adjustment unit the reaction the correctness inspection
It can be set in a particularly simple way.
By measure described here, back off level is created for the situation of the yaw rate of mistake, the back off level
Do not represent limp-home mode.More precisely, without problems it is possible that being changed again to normal fortune from this back off level
In row.Thus, for example it is not necessary that, in such intervention, warning lamp is set.
In other side, the present invention relates to a kind of computer program, a kind of electronic storage medium and a kind of control dress
Put, the computer program is configured to perform a kind of method in the method described in the one side in foregoing aspect
All steps, the computer program is stored on the electronic storage medium, and the control device is configured to perform basis
A kind of all steps of method in the method described in one side in foregoing aspect
Exemplarily, accompanying drawing shows the particularly advantageous embodiment of the present invention.Accompanying drawing is shown：
The power train of Fig. 1 motor vehicles；
The structure chart of signal streams of the Fig. 2 in monitoring；
Fig. 3 is used for the flow chart for determining to exist method, the possible process of mistake；
The flow chart for method, the possible process that Fig. 4 is reacted identified mistake；
Fig. 5 is used for the flow chart of the possible inspection of method, the correct process of lateral deviation torque-limitation.
Embodiment
Exemplarily, Fig. 1 shows the power train of motor vehicle 1.Motor vehicle 1 has four wheels 11,12,13,14.Wheel system
Move device 21,22,23,24 and alternatively electronic wheel-side motor 31,31,33,34 is associated with the wheel respectively.In addition, generating electricity
Machine 40 is set, and braking moment can be applied on bent axle 101 by the generator（It is not shown）.Generator 40 can be also constructed
For starter-generator.When the generator applies braking moment, it produces energy, and the energy can be stored in energy storage
Device（It is not shown）In.This operation can also be referred to as regenerating.
Internal combustion engine 100 produces driving torque, and the driving torque is by bent axle 101 and advantageous by automatic transmission
110 are transferred in drive shaft 102 and are further transmitted in rear axle-drive shaft 103.
ESP control devices 50 are set, to manipulate brake 21,22,23,24.ESP- control devices 50 are for example from side
Inclined rate sensor 60 receives signal, the signal description motor vehicle 1, current reality-yaw rate.When reality-yaw rate is presented
During incredible, mistake value, ESP control devices 50 can be arranged for so manipulating brake 21,22,23,24 so that
Lateral deviation torque is generated, so as to which incredible reality-yaw rate is transformed into non-key scope.This is referred to as ESP regulation interventions.
ESP control devices 50 can be communicated by correspondence 51 with engine control system 98.This correspondence 51
Appropriate bus system can for example be passed through（Such as CAN or FlexRay）It is fabricated.Engine control system 98 is closed by communicating
It is 51 reception yaw rate alarm signals, coding adjusts with the presence or absence of ESP- and intervenes and/or obtained in the yaw rate alarm signal
Whether the yaw rate taken is incredible or wrong.
Certainly, this information can be provided in different forms, for example, as specific bit combination in the message or
Person is by sending reality-yaw rate and specified yaw rate or the like.Preferably, it is described communication by correspondence 51 when
Between on controlled, for example, periodically.A cycle can be, for example, 10ms or 20ms.Furthermore it is advantageous that when described
When information is properly protected.Except CAN is specific or FlexRay specifically protection in addition to, using Andungs-CRC and/
Or message counter and/or other known end-to-end protection are also advantageous, the CAN is specific or FlexRay is specific
Protection be presented by communication protocol.
Engine control system 98 is from sensor（For example, temperature sensor 71 and air quality meter 72）Receive letter
Number, actual motion state of the signal on internal combustion engine 100, motor vehicle 1 and environment.These signals are transfused to interface 96 and connect
Receive.There, engine control system 98 can also receive yaw rate alarm signal.For example computer program is stored in electronics
In storage medium 99 so that the computer program performs the method according to the invention, when it runs.Performing methods described
When, manipulation amount（For example, specified-the angle of ignition ZW and/or specified-aperture alpha of unshowned choke valve）It is transferred into internal combustion
Machine 100.This output interface 95 that transports through is realized.Torque M to be regenerated is transferred into generator 40, necessity on gearshift
Property information be for example transferred into driver control device 120, the driver control device manipulation driver 110.
Figure 2 illustrates the information flow within engine control system 98.Pass through input interface 96, engine control
Device 98 receives input quantity xi.Input quantity xi is sent to functional block 1000 by input interface 96, for example basis in a conventional manner
Input quantity xi obtains output quantity.These output quantities are typically specified-manipulation xs value, internal combustion engine 100, starter-generator 40
It is steered with engine 31,32,33,34 using these values.Thus, input quantity xi and specified-manipulation xs is understood as many
The tuple of individual value.
The yaw rate alarm signal 96 received is sent to inspection block 1010 by input interface 96.Advantageously, block is checked
1010 for wrong in functional block 1000 from-interference-measure by being shielded, such as by as performed by functional block
Function（That is the function of functional block 1000）The mode run in other calculating cores of control device 98.Also it can set
Put, check block 1010 and functional block 1000 using double storerooms for data, the data are accessing the electricity by described piece
Read and/or write during sub- storage medium.In addition, can be provided that, monitoring block 1010 and/or functional block 1000 pass through control
Stream checking mechanism is protected.
Check that block 1010 is arranged for checking, whether this is indicate that there is alarm in yaw rate alarm signal gws.Favorably
Ground, yaw rate alarm signal includes two positions：First, this first shows, if the value of mistake is presented in reality-yaw rate,
Reality-the yaw rate is obtained by yaw rate sensor 60；And second, the second shows, if there is ESP control devices
50 regulation intervention.Instead of first ground, such as yaw rate alarm signal gws transmission reality-yaw rates are also possible.If
Check that block judges there is alarm, then alert notice wm is transferred into reaction block 1020.In addition, control block 1030 is set.
As checked block 1010, control block 1030 and/or reaction block 1020 can be relative to the mistakes in functional block 1000
Mistake is shielded and protected.Specified-manipulation xs is sent to reaction block 1020 by functional block 1000.Functional block 1000 and/or inspection
Looking into block 1010 and/or reaction block 1020 and/or control block 1030 need not be placed on identical engine control system 98, and
It is that can be run on separated control device.
When reaction block 1020 receives alert notice wm, functional block 1000 obtains the output quantity xsm of modification, that is, the volume changed
Fixed-manipulation xsm, internal combustion engine 100, starter-generator 40 and engine 31,32,33,34 utilize specified-behaviour of the modification
Control is steered.Advantageously, specified-manipulation xsm of modification is acquired and changed according to specified-manipulation xs, specified-manipulation xs
So so that do not produce lateral deviation torque using specified-manipulation xs parts being steered, the lateral deviation torque is more than total-lateral deviation torque-
Critical value.Specified-manipulation xsm of modification acquisition can be carried out in the case where dateing back functional block 1000 when necessary.Such as
Fruit reaction block 1020 is not received by alert notice wm, and specified-manipulation xs is not modified, specified-manipulation xsm of modification thus with
Specified-the manipulation is identical.Then, specified-manipulation xsm of modification is transferred into output interface 95.As specified-manipulation xs mono-
Sample, specified-manipulation xsm of modification is understood as tuple.
It is also possible that yaw rate alarm signal gws is not only to send phase when reality-yaw rate is identified as mistake
The message answered, but multiple alarm threshold values are set, wherein, yaw rate alarm signal gws transmission reality-yaw rates exceed described
Those in threshold value.Then, alert notice wm transmission and specified-manipulation xsm acquisition are equally also advantageously entered step by step
OK, so as to complete motor vehicle 1 from without specified-the xs pattern of modification is manipulated to specified-in the pattern of manipulation xs modification
, smooth transition.
Control block 1030 is set, and the control block receives yaw rate alarm signal from input interface 96, from functional block 1000
Specified-manipulation xs is received, and the specified-manipulation 1030 changed is received from reaction block 1020.Control block 1030 checks block
1010 and reaction block 1020 function.Therefore, intervention signal ns is sent to functional block 1000 by it.If control block 1030 is true
Surely there is mistake, appropriate intervention signal ns can be sent to functional block 1000 by it, and then, functional block 1000 can be taken suitable
When measure, for example activate limp-home mode.
Fig. 3 is shown for obtaining the method with the presence or absence of alarm.Advantageously, methods described is transported in module 1010 is checked
OK.In first step 3000, yaw rate alarm signal gws is received.Checked in following step 3010, if lateral deviation
Rate alarm signal gws shows there is ESP regulation interventions.If it is the case, carrying out step 3020, step is otherwise carried out
3030.Checked in step 3030, if yaw rate alarm signal gws shows that mistake is presented in reality-yaw rate of motor vehicle 1
Value.If it is the case, carrying out step 3020, step 3040 is otherwise carried out.
In step 3020, there is alarm in judgement.Step 3050 is branched, in this step, and alert notice wm is transmitted
To reaction block 1020.Methods described is terminated with step 3040.
Fig. 4 shows the flow chart of the method for performing the reaction to alert notice wm.Advantageously, this method is in reaction
Carried out in block 1020.In first step 4000, signal is received, and the signal includes whether the information that there is alert notice wm.
In following step 4010, alert notice wm is checked for.If it is the case, step 4020 is carried out, at this
Specified-manipulation the xsm changed in step is acquired.Otherwise, step 4030 is carried out, methods described is terminated with the step.
In step 4020, when obtaining specified-manipulation xsm of modification, one or more in following measures is answered
With.Specified-manipulation xsm of modification is accordingly dimensioned such so that specified-regenerating power can be limited so so that it is not more than
Regeneration-critical value, the rated regenerative power is by motor（40）Output interface 95 transmit, the regeneration-critical value is for example stored
In electronic storage medium 99.
Alternatively, or additionally, specified-manipulation xsm of modification can be accordingly dimensioned such so that driving（Just）Torque quilt
Obtain, the driving torque is applied on the rear axle of motor vehicle 1 by motor 32,34 and internal combustion engine 100.Then, regenerate-critical
Value can so be selected so that braking（It is negative）Torque is not more than driving torque so that be used as driving torque and braking moment
Total-torque of summation is just, the braking moment is applied on rear axle by starter-generator 40.
Alternatively, specified-manipulation xsm of modification can be chosen such that so that the regeneration mode of starter-generator 40
Disabled by electric.
Alternatively, or additionally, specified-manipulation xsm of modification can be chosen such that so that same（Always）Torque
It is applied to by motor 31,32,33,34, internal combustion engine 100 and starter-generator 40 11,12,13,14 on all wheels.
Alternatively, or additionally, modification it is specified-manipulation xsm can be chosen such that so that motor 33,34, rise
Dynamic device-generator 40 and internal combustion engine 100, the left wheel 13,14 that is applied to motor vehicle 1 left side is total-torque and motor 31,
32nd, starter-generator 40 and internal combustion engine 100, the right wheel 11,12 that is applied to institute's motor vehicle 1 right side it is total-torque as
Greatly.
Alternatively, or additionally, specified-manipulation xsm of modification can be chosen such that so that command value is sent to
Dynamic device control device 120, the instruction is without gearshift in driver 110.
For alarm signal ws step by step, the selection for the measure being previously mentioned can be carried out according to the grade of alarm.
Fig. 5 shows the flow chart of method, and this method is used to check whether the limitation of lateral deviation torque works according to study plot,
The lateral deviation torque is pushed into the application of part 31,32,33,34,40,100.Advantageously, this method is carried out in control block 1030.
Step 5000 indicates the beginning of method.In following, optional step 5010, engine control system 98 will
One requires to be sent to ESP- control devices 50, and the requirement should be performed for the test of the function for limiting lateral deviation torque, and
And " presence that ESP regulations are intervened " should be transmitted.
In following step 5020, engine control system 98 is from ESP- control devices 50（For example as in step
The reaction of transmitted inquiry in rapid 5010）Yaw rate alarm signal gws.Test signal is also included in yaw rate alarm signal
In gws, the test signal shows actually to whether there is test pattern.This test signal is not controlled by block 1010 and assessed.
In following step 5030, check whether that test signal includes the information of " there are in fact test pattern ",
And, if yaw rate alarm signal includes the information of " there is ESP regulations intervention ".If it is the case, carrying out step
5040, step 5080 is otherwise carried out, methods described is terminated with the step.
In step 5040, control block 1030 will require to be sent to functional block 1000, and the requirement is such prespecified volume
Fixed-manipulation xs so that lateral deviation torque is generated in this specified-manipulation xs implementation.
In following step 5050, check whether that the value for producing lateral deviation torque is actually presented in specified-manipulation xs, with
And specified-manipulation the xsm whether changed is different from specified-manipulation.If it is the case, carrying out step 5060, otherwise carry out
Step 5070.
The starting point of step 5060 is that monitoring block 1010 and reaction block 1020 work according to the rules, also, methods described knot
Beam.
In step 5070, wrong reaction is introduced into, such as by the way that order " introducing limp-home mode " is sent into work(
Can block 1000.Alternatively, it can set, error counter increase and these wrong reactions are just introduced, when error counter exceedes
Can be previously given error threshold when.
Claims (15)
1. there is the motor vehicle of motor vehicle control system for safe operation（1）Method, the motor vehicle control system include push away
Enter adjustment unit,（98）, propulsion adjustment unit manipulation first component（31、32、33、34、40、100）, wherein, when the propulsion
Adjustment unit is in yaw rate alarm signal（ges）In when receiving alarm, the propulsion adjustment unit（98）Then so manipulate institute
State first component（100、40）So that by the first component（100、40）Overall total-lateral deviation the torque produced is not more than always-side
Inclined torque-critical value.
2. according to the method described in claim 1, wherein, the yaw rate alarm signal（gws）Including following signals：The signal
Show, if the motor vehicle（1）Reality-yaw rate the value of mistake is presented.
3. according to claim 1 or claim 2, wherein, the yaw rate alarm signal（gws）Including following signals,
The signal shows, if vehicle dynamics adjustment unit（50）So manipulate the part that it can be manipulated（21、22、23、24）, make
Obtain these parts and produce lateral deviation torque, vehicle dynamics adjustment unit manipulation brake（21、22、23、24）.
4. the method according to any one of preceding claims, wherein, it is when the alarm is received, then described to promote
Adjustment unit（98）So manipulate motor（40）So that the motor（40）Maximum regeneration power be not more than regeneration-critical value.
5. method according to claim 4, wherein, the regeneration-critical value selection is such size so that total-torque
For just, the total-torque is by the first component（32、34、40、100）It is applied to the motor vehicle（1）Rear axle（12、14、
103）On.
6. the method according to any one of claim 1 to 5, wherein, when there is the alarm, with regard to methods described
Speech, motor（40）Regeneration mode be deactivated, the motor can be by the propulsion adjustment unit（98）Manipulation.
7. the method according to any one of claim 1 to 6, wherein, when the alarm is received, then identical
Always-torque is by the first component（31、31、33、34、40、100）It is applied to the motor vehicle（1）All wheels（11、
12、13、14）, the wheel can be by the propulsion adjustment unit（98）Manipulation.
8. the method according to any one of claim 1 to 7, wherein, when the alarm is received, then described first
Part（33、34、40、100）, be applied to the motor vehicle（1）Left wheel（13、14）A left side it is total-torque and described first
Part（31、32、40、100）, be applied to the motor vehicle（1）Right wheel（11、12）The right side it is total-torque is equally big.
9. the method according to any one of claim 1 to 8, wherein, when the alarm is received, then without passing
Dynamic device（110）Switching intervention.
10. the method according to any one of preceding claims, wherein, the first component（31、32、33、34、40、
100）The manipulation so carry out so that first component described first（31、32、33、34、40、100）It is specified-manipulation
（xs）It is acquired, without considering the yaw rate alarm signal（gws）, then, when the propulsion adjustment unit（98）Receive institute
When stating alarm so that corresponding to the specified-manipulation（xs）, desired total-lateral deviation torque is acquired, and wherein, works as institute
When stating desired total-lateral deviation torque more than described total-lateral deviation torque-critical value, then specified-the manipulation changed（xsm）It is acquired,
So that being not more than the total-lateral deviation torque-critical value with regard to this desired described total-lateral deviation torque.
11. method according to claim 9, wherein, the yaw rate alarm signal（gws）Including test signal, wherein,
The test signal shows, if test pattern is activation, also, wherein, when the alarm is received and when described
When test signal shows the test pattern for activation, then the forward controller（98）Previously given specified-manipulation（xs）, should
Specified-manipulation, correspondingly, desired total-lateral deviation torque be more than described total-lateral deviation torque-critical value, wherein, according to described
Specified-manipulation（xs）And specified-manipulation of the modification（xsm）Judge, it is described propulsion adjustment unit reaction in whether
There is mistake.
12. method according to claim 10, wherein, the vehicle dynamics adjustment unit（50）The propulsion regulation
Unit（98）The signal for activating the test pattern is transmitted, and then from the vehicle dynamics adjustment unit（50）Connect
The alarm with the test signal is received, the test signal shows that the test pattern is activation.
13. computer program, the computer program is arranged for performing according to any one of claim 1 to 12
A kind of all steps of method in method.
14. electronic storage medium（99）, the computer program according to claim 13 is stored in the electronic storage medium
On.
15. control device（98）, the control device be arranged for perform according to any one of claim 1 to 12
All steps of a method in method.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015203782.7A DE102015203782A1 (en) | 2015-03-03 | 2015-03-03 | Method and device for determining whether a fault condition exists in a motor vehicle or not |
| DE102015203782.7 | 2015-03-03 | ||
| PCT/EP2016/053014 WO2016139048A1 (en) | 2015-03-03 | 2016-02-12 | Method and device for ascertaining the presence of a fault state in a motor vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107278190A true CN107278190A (en) | 2017-10-20 |
| CN107278190B CN107278190B (en) | 2020-05-29 |
Family
ID=55361488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680013715.8A Active CN107278190B (en) | 2015-03-03 | 2016-02-12 | Method and device for determining whether a fault state exists in a motor vehicle |
Country Status (4)
| Country | Link |
|---|---|
| KR (1) | KR102496881B1 (en) |
| CN (1) | CN107278190B (en) |
| DE (1) | DE102015203782A1 (en) |
| WO (1) | WO2016139048A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112689591A (en) * | 2018-09-12 | 2021-04-20 | 大众汽车股份公司 | Steer-by-wire system for a motor vehicle and method for operating the same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007056359A1 (en) * | 2007-11-16 | 2009-05-20 | Bayerische Motoren Werke Aktiengesellschaft | Brake system controlling method for e.g. hybrid vehicle, involves reducing brake torque applied by electrical-regenerative brake or friction brakes, where reduction of brake torque is not directly neutralized |
| CN101522487A (en) * | 2006-09-28 | 2009-09-02 | 大众汽车有限公司 | Braking system and method for braking a vehicle with a hybrid drive |
| CN101879892A (en) * | 2009-05-08 | 2010-11-10 | 比亚迪股份有限公司 | Vehicle braking system |
| CN102481908A (en) * | 2009-07-06 | 2012-05-30 | 雷诺股份公司 | Method and device for the detection of a transported situation of a vehicle in standby mode, and vehicle equipped with such a device |
| DE102012216517A1 (en) * | 2012-09-17 | 2014-03-20 | Robert Bosch Gmbh | Method for operating an electric motor driven vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4438714A1 (en) | 1994-10-29 | 1996-05-02 | Bosch Gmbh Robert | Method and device for controlling the drive unit of a vehicle |
| KR101757339B1 (en) * | 2010-01-25 | 2017-07-12 | 보그워너 스웨덴 아베 | A method for controlling the yaw moment of a vehicle |
-
2015
- 2015-03-03 DE DE102015203782.7A patent/DE102015203782A1/en active Pending
-
2016
- 2016-02-12 WO PCT/EP2016/053014 patent/WO2016139048A1/en active Application Filing
- 2016-02-12 CN CN201680013715.8A patent/CN107278190B/en active Active
- 2016-02-12 KR KR1020177028121A patent/KR102496881B1/en active IP Right Grant
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522487A (en) * | 2006-09-28 | 2009-09-02 | 大众汽车有限公司 | Braking system and method for braking a vehicle with a hybrid drive |
| DE102007056359A1 (en) * | 2007-11-16 | 2009-05-20 | Bayerische Motoren Werke Aktiengesellschaft | Brake system controlling method for e.g. hybrid vehicle, involves reducing brake torque applied by electrical-regenerative brake or friction brakes, where reduction of brake torque is not directly neutralized |
| CN101879892A (en) * | 2009-05-08 | 2010-11-10 | 比亚迪股份有限公司 | Vehicle braking system |
| CN102481908A (en) * | 2009-07-06 | 2012-05-30 | 雷诺股份公司 | Method and device for the detection of a transported situation of a vehicle in standby mode, and vehicle equipped with such a device |
| DE102012216517A1 (en) * | 2012-09-17 | 2014-03-20 | Robert Bosch Gmbh | Method for operating an electric motor driven vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112689591A (en) * | 2018-09-12 | 2021-04-20 | 大众汽车股份公司 | Steer-by-wire system for a motor vehicle and method for operating the same |
| CN112689591B (en) * | 2018-09-12 | 2023-11-21 | 大众汽车股份公司 | Drive-by-wire steering system for a motor vehicle and method for operating the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107278190B (en) | 2020-05-29 |
| WO2016139048A1 (en) | 2016-09-09 |
| DE102015203782A1 (en) | 2016-09-08 |
| KR20170126990A (en) | 2017-11-20 |
| KR102496881B1 (en) | 2023-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104428182B (en) | Powertrain control system and method | |
| JP5254334B2 (en) | Brake device for vehicle and method for operating vehicle brake device | |
| US11951963B2 (en) | Apparatus for controlling autonomous vehicle brake | |
| US9180848B2 (en) | Vehicle brake force generation device | |
| CN107054354A (en) | The driving-force control apparatus of vehicle | |
| CN107021092A (en) | The control system of drive device | |
| US20140257664A1 (en) | Slip-controlled braking system for electrically driven motor vehicles | |
| CN104442795B (en) | The method and apparatus being monitored for the driver to motor vehicle | |
| JP2006051922A (en) | Vehicle controller | |
| JP6407732B2 (en) | Vehicle control device | |
| CN102975717B (en) | The active safety control system and method for redundancy executing agency electric automobile | |
| US20110130909A1 (en) | System and method for controlling a four wheel drive vehicle | |
| CN102756669B (en) | Multiplex control system, transport device with multiplex control system and control method | |
| CN105216790A (en) | For driving the method for hybrid vehicle | |
| CN108528522A (en) | A kind of active safety control method after vehicle flat tire | |
| CN105121199A (en) | System and method for controlling a motor vehicle with independent rear electric machines | |
| JP6153857B2 (en) | Braking device for vehicle | |
| CN115279633A (en) | Brake system | |
| CN107278190A (en) | For determining method and apparatus in a motor vehicle with the presence or absence of malfunction | |
| CN105313880A (en) | A motor vehicle having at least two driving actuators and improved failure safety, a running method and a mechanism for implementing the running method | |
| US11535272B2 (en) | Vehicle system for autonomous control in response to abnormality | |
| CN111605411A (en) | Active damping anti-shake control method and system of cross-controller and electric automobile | |
| Behere et al. | A functional brake architecture for autonomous heavy commercial vehicles | |
| CN207931708U (en) | Vehicle redundant braking system | |
| JP2007230342A (en) | Braking force control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |