CN109311460A - 摩擦值估计器 - Google Patents

摩擦值估计器 Download PDF

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CN109311460A
CN109311460A CN201780038358.5A CN201780038358A CN109311460A CN 109311460 A CN109311460 A CN 109311460A CN 201780038358 A CN201780038358 A CN 201780038358A CN 109311460 A CN109311460 A CN 109311460A
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wheel
vehicle
braking
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lane
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CN109311460B (zh
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弗里德里希·滕布罗克
斯文·约尔
克里斯托夫·沙尔
丹·威廉姆斯
斯特凡·卡伦巴赫
克劳斯·普兰
托马斯·迪克曼
拉尔夫-卡斯滕·吕尔芬
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ZF CV Systems Europe BV
ZF CV Systems Global GmbH
ZF Friedrichshafen AG
ZF Active Safety and Electronics US LLC
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Wabco Europe BVBA
ZF Friedrichshafen AG
TRW Automotive US LLC
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    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • B60T8/17633—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface based on analogue circuits or digital circuits comprised of discrete electronic elements
    • 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
    • B60T8/172—Determining control parameters 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
    • 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
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/26—Wheel slip

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)

Abstract

本发明涉及一种用于获知摩擦值的方法；其中，以如下方式制动车辆的第一车轮，即，使得第一车轮与车道之间的滑差小于车辆的第二车轮与车道之间的滑差。借助第一车轮在制动期间的特性来获知第一车轮与车道之间的摩擦值。

Description

摩擦值估计器
技术领域
本发明涉及一种根据权利要求1的前序部分所述的方法和一种根据独立装置权利要求所述的车辆。
背景技术
在起动时，使用不同的驾驶员辅助系统，例如ABS(防抱死系统)、ISC(车辆动力学调节或电子稳定控制)、RSC(防爆胎系统组件)、AEBS(先进紧急制动系统)，AEB(自主紧急制动)或回避辅助对存在于车辆的车轮与车道之间的摩擦值进行估计。AEBS系统的制动点基于例如对具有高粗糙度的干燥的街道的假设来估计。对实际存在的摩擦值的匹配仅在运行时间才进行。如果初始估计偏离实际摩擦值，则所提到的系统在起动后不能最佳地工作。
发明内容
本发明的任务是规避现有技术中已知的解决方案固有的弊端和缺点。特别地，应该更加可靠地设计和加速对车辆的车轮与车道之间的摩擦值的获知。
该任务通过根据权利要求1所述的用于摩擦值获知的方法和根据权利要求12所述的车辆来解决。优选的改进方案包含在从属权利要求中。
摩擦值也被称为摩擦系数，其定义为由两个主体之间的最大摩擦力和挤压力得出的商。挤压力导致其中一个主体的两个摩擦面分别彼此压靠。摩擦面在两个触碰面中彼此触碰。其中每个触碰面都对应于摩擦面或者是摩擦面的部分面。挤压力与触碰面正交地延伸。摩擦力是由于与挤压力正交的位移的摩擦在摩擦面的触碰面中反作用于摩擦面的力。最大摩擦力是指在给定的挤压力下可以最大地施加的摩擦力。
根据本发明的方法规定，车辆的第一车轮以如下地制动，即，使得第一车轮和车道之间的滑差小于车辆的第二车轮与车道之间的滑差。第一车轮的制动意味着第一车轮和车道之间的滑差小于零。第二车轮和车道之间的滑差同样可以小于零。这意味着第二车轮也被制动。备选地，第二车轮可以自由转动。在这种情况下不存在滑差。而且，还可行的是，第二车轮加速而第一车轮制动。这意味着第二车轮和车道之间的滑差大于零。
车道是车辆置放或行驶的地面。特别地，第一车轮和第二车轮与地面接触。在这种情况下，第一车轮和第二车轮分别负载车辆重量的一部分。
根据本发明，借助第一车轮在制动期间的特性来获知第一车轮和车道之间的摩擦值。该方法规定，第一车轮被强烈地制动，使得其滑差大于第二车轮的滑差。由于第一车轮的更强的滑差可以借助第一车轮推断出第一车轮与车道之间的摩擦值。特别地，摩擦值可以借助至少一个物理量来获知，该物理量描述了制动期间第一车轮的特性。
根据本发明的方法的特征在于，在车辆轻微减速的情况下，单个车轮可以进入发生强烈滑差的状态。因此在第一车轮上出现强烈滑差。但由于第二车轮不那么强烈地制动、自由转动甚至加速，所以可以避免车辆的过强的减速。
在优选的改进方案中，在第一车轮与车道之间获知的摩擦值用作第二车轮与车道之间的摩擦值的估计值。这是基于车辆的各个车轮的以及车道的均匀的粗糙度的假设。特别地，假设第二车轮与车道之间的摩擦值相应于第一车轮与车道之间的摩擦值。
被制动的车轮负荷越低，本发明的在车辆的轻微减速下单个车轮的强烈制动的基本原理就越能发挥作用。因此，在特别优选的改进方案中，车辆的加载特别低的动态车轮负荷的车轮被制动。也就是说，根据改进方案，按如下方式选择第一车轮和第二车轮，即，使得第一车轮在制动期间加载比第二车轮更低的车轮负荷。
在制动期间，动态车轮负荷通常从后向前地增加。因此，在另一优选改进方案中，第一车轮布置得沿行驶方向比第二车轮更靠后，特别是，第一车轮可以是后轮，而第二车轮可以是前轮。
在从静摩擦到滑动摩擦的过渡中表现出最大摩擦值。相应地，在优选改进方案中，第一车轮被制动得如此强烈以至于它至少暂时地被卡阻，即第一车轮与车道之间的滑差至少暂时为-1。在第一车轮被卡阻期间，第二车轮继续转动。
在另一优选改进方案中，第一车轮和车道之间的滑差与第二车轮和车道之间的滑差的上述比例在整个制动过程期间持续适用。因此，在车辆的第一车轮制动期间，第一车轮和车道之间的滑差优选地持续地小于第二车轮和车道之间的滑差。
物理对象或技术对象的可定量地确定的属性称为物理量。在制动期间影响第一车轮的特性的物理量包括第一车轮和车道之间的滑差、施加到第一车轮上的制动压力以及在制动期间作用到第一车轮的车轮负荷。作用到第一车轮上的制动扭矩的大小唯一地取决于施加在第一车轮上的制动压力。在优选的改进方案中，采用一个或多个所提到的变量用于获知第一车轮和车道之间的摩擦值。
上述方法特别适用于校准制动系统。用于制动车辆的相应方法包括第一步骤和第二步骤。在第一步骤中，在使用根据本发明的方法或该方法的优选改进方案的情况下获知摩擦值。在第二步骤中，执行紧急制动，也称为紧急刹车或完全制动。其特征在于车辆的尽可能高的减速。优选地，车辆在紧急制动期间以最大可能的减速来制动。
第二步骤在第一步骤之后实施。在这种情况下，在第一步骤中获知的摩擦值用于校准车辆的制动系统。因此，在紧急制动开始时已经存在摩擦值，其相应于车辆的车轮与车道之间实际存在的物理条件。
在用于制动车辆的优选的改进方案中，在根据本发明的方法或该方法的优选改进方案中，第一步骤自动实施。该自动实施例如在车辆识别到与障碍物即将发生碰撞时，实施紧急制动的准备。
在另一个优选改进方案中，第二步骤也自动实施。这种改进方案相应于紧急刹车辅助的功能性。
在通过紧急刹车辅助来紧急制动的情况下，通常会提前警告驾驶员。相应的警告可以例如以所谓的预警制动的形式发生。在预警制动期间，车辆以略微的减速来制动，例如以不超过3.5m/s2的减速来制动。这是为了以信号通知驾驶员即将来临的紧急制动。在优选的改进方案中，在实施根据本发明的方法或该方法的改进方案的情况下实施预警制动。
车辆优选具有至少一个控制设备，该控制设备构造用于实施根据本发明的方法或该方法的改进方案，特别是用于准备紧急制动并且与紧急刹车辅助相组合。
附图说明
图1中示出了本发明的优选实施例。具体而言：
图1示出了紧急刹车辅助。
具体实施方式
根据图1，首先实施摩擦值估计器。该摩擦值估计器通过有针对性地卡阻小负载的车轮来获知车轮与车道表面之间的摩擦值103。
将摩擦值103作为输入参数传递给随后实施的紧急刹车辅助105。
附图标记列表
101 摩擦值估计器
103 摩擦值
105 紧急刹车辅助

Claims (15)

1.一种用于获知摩擦值的方法；其中，
以如下方式制动车辆的第一车轮，即，使得第一车轮与车道之间的滑差小于车辆的第二车轮与车道之间的滑差；其特征在于
借助第一车轮在制动期间的特性来获知第一车轮与车道之间的摩擦值。
2.根据权利要求1所述的方法；其特征在于，
第一车轮与车道之间的摩擦值被用作第二车轮与车道之间的摩擦值的估计值。
3.根据前述权利要求中任一项所述的方法；其特征在于，
第一车轮在制动期间被加载比第二车轮更低的车轮负荷。
4.根据前一权利要求所述的方法；其特征在于，
第一车轮沿车辆的行驶方向布置得比第二车轮更靠后。
5.根据前述权利要求中任一项所述的方法；其特征在于，
以如下方式制动第一车轮，即，使得所述第一车轮至少暂时被卡阻。
6.根据前述权利要求中任一项所述的方法；其特征在于，
在制动期间，第一车轮与车道之间的滑差持续小于第二车轮与车道之间的滑差。
7.根据前述权利要求中任一项所述的方法；其特征在于，
采用第一车轮与车道之间的滑差、施加在第一车轮上的制动压力和/或在制动期间加载给第一车轮的车轮负荷，用以获知第一车轮与车道之间的摩擦值。
8.一种用于制动车辆的方法；其中
在第一步骤中，实施根据前述权利要求中任一项所述的方法；其中
在第二步骤中，执行紧急制动。
9.根据前一权利要求所述的方法；其特征在于，
第一车轮与车道之间的摩擦值和/或第二车轮与车道之间的摩擦值被用于控制或调节紧急制动。
10.根据前一权利要求所述的方法；其特征在于，
所述第一步骤自动实施。
11.根据前述两项权利要求中任一项所述的方法；其特征在于，
所述第二步骤自动实施。
12.根据权利要求8至11中任一项所述的方法；其特征在于，
在所述第一步骤中制动车辆。
13.根据前一权利要求所述的方法；其特征在于，
车辆在所述第一步骤中以比在第二步骤中以更小的减速制动。
14.根据前述两项权利要求中任一项所述的方法；其特征在于，
车辆在所述第一步骤中的减速为不超过3.5m/s2。
15.具有至少一个控制设备的车辆；其中，
所述控制设备构造用于实施根据前述权利要求中任一项所述的方法。
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