CN1780744A - Driving dynamics regulation system adapted to the rolling behaviour of a vehicle - Google Patents

Driving dynamics regulation system adapted to the rolling behaviour of a vehicle Download PDF

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Publication number
CN1780744A
CN1780744A CN 200480011617 CN200480011617A CN1780744A CN 1780744 A CN1780744 A CN 1780744A CN 200480011617 CN200480011617 CN 200480011617 CN 200480011617 A CN200480011617 A CN 200480011617A CN 1780744 A CN1780744 A CN 1780744A
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China
Prior art keywords
tumbling
parameter
stable
automobile
indication
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Granted
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CN 200480011617
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CN100497016C (en
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M·基尔恩
G·南尼恩格
M·尼莫
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0182—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
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    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
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    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G2800/019—Inclination due to load distribution or road gradient
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    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/214—Traction, slip, skid or slide control by varying the load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G2800/90—System Controller type
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    • B60G2800/9124—Roll-over protection systems, e.g. for warning or control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/915—Suspension load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/94—Electronic Stability Program (ESP, i.e. ABS+ASC+EMS)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/96—ASC - Assisted or power Steering 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a device which is used to stabilize cars which exist in the tripping critical state and a process, wherein different regulation parameters (ay, day/dt, P) are collected by means of sensing devices (2, 6), the driving is interfered by a tripping stabilization algorism (4, 5) by means of an actuator (3, 9, 10) in order to stabilize the car. The tripping trend of car is estimated taking the relationship between a parameter (Lw) for describing the steering performance of the car and a parameter (W) for describing the swinging performance of the care as starting point in view of the different loading state of the car, and the tripping trend is considered when the tripping is stabilized.

Description

Be matched with the driving dynamics control system of automobile swing characteristic
The present invention relates to a kind of as described in the preamble, method of being used for when tumbling critical conditions for one, stablizing automobile according to claim 1, and a kind of according to claim 9 as described in the preamble, be used for for the tumble driving dynamics control system of stabilization of automobile.
Have the automobile of high center of gravity-for example light-duty truck, motion serviceable vehicle (SUV:SportUtility Vehicles) or light truck the trend of tumbling around the longitudinal axis is particularly arranged with high transverse acceleration turning driving the time.Therefore, in this class automobile, usually use the stabilization system of tumbling, for example prevent to roll (ROP:Roll-Over-Prevention) or alleviate roll (ROM:Roll-Over-Mitigation), these systems stablize automobile when travelling dynamic critical conditions, and alleviate automobile around the longitudinal axis motion of tumbling.For example Fig. 1 represents a kind of by background technology driving dynamics control system known, that have the ROP-function.
Fig. 1 be a disclosed ROP system work the block schematic of very big simplification, this system comprises that mainly one has control convenience 1, one that a ROP regulates algorithm and is used to discern the tumble sensing device 2 of critical motoring condition and one and is used to carry out stable actr 3 of intervening.If control convenience 1 recognizes the critical conditions of tumbling according to sensor signal, then for example by the operation of travelling of the brake operating intervention on the outer front-wheel that turns to.Other systems are also by another kind of actr, a for example drive spring/damping system (normal force system of distribution) or active front steering system intervention operation of travelling.
In the disclosed stabilization system of tumbling, discern the critical conditions of tumbling by following measure usually: the parameter (below this parameter being called indication parameter S) of measuring a description automobile lateral dynamics, and threshold value is monitored, that is to say indication parameter and a characteristic threshold value are compared, then carry out stable an intervention if surpass threshold value.Common described indication parameter also determines stable intensity of intervening.
Usually, described indication parameter is time of function, the vehicle lateral acceleration of the transverse acceleration ay of automobile to change the function of day/dt and other influences the function of parameter P in case of necessity.
Different input parameter when Fig. 2 represents to flow into the analysis of indication parameter S.From accompanying drawing, as can be seen, input parameter ay, day/dt, P are combined, and therefrom analyze indication parameter S according to a function 4.At last, the indication parameter S that so obtains is transported to adjusting algorithm 5.Therefore, tumble stable algorithm 5 open or the size or its gradient of invalid and transverse acceleration connect.
The overturning behavior of automobile is mainly relevant with loading except the behavior of structure of automobile.Architectural feature, for example suspension in addition, owing to also may change due to aging, therefore the tendency (Kippneigung) of tumbling to automobile exerts an influence.In having shown in Fig. 1 tumbled the driving dynamics control system of stabilization function ROM or ROP, be provided with and consider these influences.
Therefore, disclosed tumble stabilization function ROP or ROM usually are responsive especially to 8UV or small-sized freight, just to high load condition and soft suspension harmony.Therefore, when very low transverse acceleration numerical value, just triggered a kind of stable intervention.The shortcoming of doing like this is stable the intervention too early with too strong of tumbling when normal or low load.
Therefore, task of the present invention provides a kind of being used for for automobile tumble method of stabilizing and a kind of corresponding driving dynamics control system, adopt this method and system can grasp the swing characteristic of automobile simple and reliablely, and therefore can in the stable design of tumbling, consider the different load of automobile or different state of the art.
This task of the present invention is accomplished by feature given in claim 1 and claim 8.Other scheme of the present invention is the theme of dependent claims.
Basic design of the present invention is, from a parameter (for example deflection angle or turning velocity) of describing cornering properties and parameter (for example scroll rate (Rollrate) or spring stroke (Einfederweg)) of describing swing characteristic, estimate automobile about the information (following title " tendency of tumbling ") of tendency of tumbling, and will tumble stabilization system and tumbling of so obtaining are inclined to suitable.Preferably start (igniting 1) at every turn and grasp the tendency of tumbling of automobile afterwards in the process of moving again, and pay attention in stablizing tumbling at automobile.
Analyzed following advantage for the relation between the parameter (hereinafter referred to as the swing parameter) of the parameter (hereinafter referred to as turn around parameters) of describing cornering properties and description swing characteristic, the tendency of tumbling (perhaps swing stability) of automobile can be estimated especially reliably, thereby and different load conditions and the state of the art that has changed can be in the power adjustment of travelling, considered.
The triggering moment or the invalid moment of tumbling and being inclined in the analysis institution that for example can be fed directly to indication parameter S and therefore influencing stable intervention obtained.
Information about the tendency of tumbling also can flow in the stable algorithm of tumbling selectively, and have influence on the feature or the parameter of algorithm, for example regulate threshold value, regulate deviation-for example be used for wheelslip, perhaps have influence on the adjusting parameter, for example lock torque or engine torque.Therefore, above-mentioned feature or parameter are the functions of the described tendency of tumbling.Therefore, when tumbling tendency when big, when just center of gravity is high or hang and just can start stable the intervention when relatively poor ahead of time, perhaps with than stablizing intervention in the less bigger degree of tumbling when being inclined to.
In order to determine the tendency of tumbling of automobile, both can analyze a turn around parameters and one and swing static relation between the parameter, also can analyze dynamic relationship between them.Preferably analyze dynamic motoring condition at least,, and therefore determine the actual tendency of tumbling of automobile in the process of moving more and more exactly for example with the relevant dynamic turning driving of tendency of tumbling.
Turn around parameters refers specifically to (having recorded) deflection angle or therefrom the derive parameter of coming out, for example parameter of turning velocity.The swing parameter for example comprises spring stroke, normal acceleration or the pivot angle of wheel support power, single wheel or the parameter of coming out of therefrom deriving, for example variation of spring stroke, perhaps scroll rate (variation of pivot angle).
In stable motoring condition, preferably analyze in the static swing of described deflection angle and parameter, the relation between the spring stroke of each wheel for example, and therefrom estimate the tendency of tumbling.
When dynamic motoring condition, for example analyze turning velocity and dynamic swing parameter, for example relation between the scroll rate.
Except consider pure static state or dynamically, also can analyze a dynamic change of swinging parameter when stablize motoring condition.For example when the steady turn motoring condition, according to load condition or suspension status, automobile shows the different vibration characteristic around the longitudinal axis.Therefore, also can estimate the tumble tendency or the swing stability of automobile by analyzing the amplitude and/or the oscillation frequency of a swing parameter in this time.
According to of the present invention preferred embodiment a kind of, from turn around parameters and swing parameter, obtain the indication (Kipp-indikator) of tumbling that an expression automobile is tumbled and is inclined to by fuzzy logic.
Tumbling indication can be additionally with a weighting function (Bewertungsfunktion) weighting, and this weighting function is considered the quality of learning process (Lernvorgang), and therefore, it is the yardstick of tumbling of having analyzed the reliability of indicating.In this case, weighting function preferably for the number of times of learning process and/or in the process of moving the time length of this learning process be weighted.Can guarantee especially that by this measure the tendency that is unlikely to will tumble is mistakenly estimated too lowly under the estimation condition of difficulty.
Preferably have only when for example aspect another parameter of deflection angle, transverse acceleration or description automobile lateral dynamics, satisfying the regulation motoring condition of fixed predetermined condition, just carry out described estimation for the tendency of tumbling.Guarantee that by this measure the estimation result is reliable as far as possible.
After restarting automobile, that the tendency of preferably will tumbling or the indication of tumbling are initialised to the high tendency of tumbling of expression automobile and therefore cause the stable algorithm of tumbling ahead of time and the numerical value of stronger intervention.Be increase, and the indication of tumbling of the actual load condition of expression after several learning processes, just occurs along with the perdurability of travelling.
If be familiar with having obtained the very different indications of tumbling within the stage (motoring condition) at one or more, preferably selecting that is the highest indication of tumbling of tumbling and being inclined to, and with its basis as vehicle steadily.
The present invention will be described in more detail by accompanying drawing example ground below.These accompanying drawings are:
Fig. 1: the brief block diagram of a disclosed stabilization system of tumbling;
Fig. 2: the scheme drawing that forms the stable algorithm indication parameter S that tumbles;
Fig. 3: according to the block scheme of the stabilization system of tumbling of an embodiment of the invention;
Fig. 4: expression produces the block scheme of the indication K1 that tumbles.
See also the beginning part of this specification sheets about the explanation of Fig. 1 and Fig. 2.
Fig. 3 is the block diagram of the stabilization system of tumbling.This system comprises that a control convenience with stable algorithm ROM that tumbles (Roll Over Mitigation-alleviate roll) 1, one are used to gather the sensing device 2,6 of motoring condition parameter and so as to implementing stable actr 9,10 of intervening.Realize square frame 4,7,8 with form of software, and they are used for processes sensor signal (square frame 7), the tumble tendency or the swing stability (square frame 8) and produce an indication parameter S (square frame 4) of estimation automobile.
For determining the critical motoring condition of tumbling, the described stabilization system of tumbling uses the ESP-sensing device 2 that has existed.This sensing device particularly comprises wheel speed sensor, a steering angle sensor, a lateral acceleration sensor or the like.Sensor signal continues processed in square frame 7, has wherein particularly removed interference and has carried out filtering.Preferably sensor signal is also carried out the likelihood monitoring.
Selected signal, be that transverse acceleration ay, its gradient day/dt and in case of necessity other influence parameter P and flow in the square frame 4.Illustrated as relating to Fig. 2 in front, in this square frame, calculate an indication parameter S, utilize unlatching or invalid control of this indication parameter to stabilizing measures.Described in this case indication parameter is also determined stable intensity of intervening.
Except ESP-sensing device 2, the described stabilization system of tumbling also comprises an additional sensing device 6 that is used to measure the swing parameter.Therefore, sensing device 6 for example also can comprise with one in the sensor of each gradient of the parameter of measuring wheel support power, spring stroke, normal acceleration or scroll rate or come out from wherein deriving-for example.In square frame 7, prepare transducing signal, be transported to fuzzy message processing equipment 8 then.Square 8 obtains as at least one turn around parameters of input parameter and a swing parameter.
Described turn around parameters relates in particular to (measured) deflection angle Lw or one the turning velocity dLw/dt of the parameter of coming out-for example that therefrom derives.Described swing parameter for example comprises wheel support power, spring stroke, normal acceleration or pivot angle or the parameter of therefrom derive-for example variation or the scroll rate (variation of pivot angle) of spring stroke.
Fuzzy message processing equipment 8 can be analyzed the static relation between a turn around parameters and one swing parameter W, also can analyze the dynamic relationship between them, and therefrom obtains the tumble indication K1 that tumbles of tendency or swing stability of expression automobile.When static state is considered a motoring condition, for example analyze in deflection angle and a static relation of swinging between parameter W, for example spring stroke, and therefrom estimate the tendency of tumbling.When dynamically considering, for example analyze the relation between turning velocity and dynamic swing parameter W, for example scroll rate.
Square frame 8 comprises one in order to be formed on a fuzzy message processing equipment of relation and tumble tendency or swing stability estimate automobile from the combination of each single parameter between turn around parameters and the swing parameter.In the design of fuzzy estimate within square frame 8, define the ultimate amount of a linguistics numerical value (Linguistische Werte) respectively according to the base quantity of a turn around parameters Lw and a swing parameter W, fuzzy quantity is attached troops to a unit in this linguistics numerical value.Their adjusting bases of relational modelization between each single linguistics numerical value that will turn to modulus and swing modulus are represented about in the chaufeur regulation with according to expert's understanding of the relation between the swing power of height of gravitational center.
By by the disclosed treatment step of fuzzy logic " obfuscation " and " reasoning ", form described turn around parameters and swing parameter according to linguistics variable (linguistische Variable) " variation of height of gravitational center ".The base quantity of these variablees for example is made up of linguistics numerical value (with respect to normal loading) " not variation ", " slight increasing " and " strong increasing ".By obfuscation, the indication K1 that obtains at last tumbling, for example according to interval [0...1], the yardstick of the actual tendency of tumbling of this time interval automobile.This indication K1 that tumbles can be 0 for example: the value between the height of gravitational center does not change, the tendency of promptly normally tumbling; 1: improve a lot between the height of gravitational center, the tendency of just tumbling is very big.Replacement forms the tendency of tumbling according to continuous base quantity, also it is contemplated that a plurality of discontinuous ranks (" fuzzy classifier method ") are set.
Except pure static state or dynamically considering, also can additionally for example analyze the dynamic change of the swing parameter W when stablizing motoring condition.When steady turn was travelled, according to load condition or suspension status, automobile showed the different vibration characteristic around longitudinal axis.Therefore, the amplitude of vibration that also can be by analyzing the swing parameter when the fixing deflection angle and/or frequency estimate that tumble tendency and/or the swing of automobile are stable.
The resulting indication K1 that tumbles is used to change the tumble feature or the parameter of stable algorithm 5, perhaps changes stable intensity of intervening corresponding to the described tendency of tumbling.For this reason, for example can change the adjusting threshold value of algorithm, the adjusting deviation of adjusting permission parameter, for example wheelslip or the adjustment data of internal calculation.
Also can calculate the indication S that tumbles according to the tendency of tumbling selectively.Also can additionally for example show the tendency of tumbling that increases, the danger of tumbling that also therefore improves to chaufeur by a signal lamp in the clustered instrument board.
Fig. 4 represents to estimate by fuzzy message processing equipment 8 a kind of embodiment of the algorithm of the indication K1 that tumbles.Only in the favourable motoring condition of regulation, just estimation is just carried out this evaluation method in the very convictive the sort of state.Can be input in the fuzzy algorithm 8 so as to calculating driving dynamics parameter G motoring condition, regulation for this purpose.If a driving dynamics parameter G-for example transverse acceleration or a turning velocity satisfies at least one defined terms, then fuzzy algorithm 8 is activated or is disabled.
Produce the trusted variable V that is used to estimate the described estimation quality and the reliability of the indication 2 of therefore tumbling in addition.Trusted variable V for example can consider the number of times and/or the time length of the learning process during travelling.
To be bonded to each other by tumble indication K2 and the trusted variable V that fuzzy message processing equipment 8 is produced by a characteristic curve 11 then.See in quality, by this combination, as trusted variable V numerical value hour (for example V=0), the numerical value height of the synthetic indication K3 that tumbles that then produces (it is dangerous high promptly to tumble) then produces the indication of tumbling with K3=K2 when trusted variable V is high numerical value (for example V=1).According to the quality of estimation, will by fuzzy message processing equipment 8 obtain tumble indication K2 or keep, K3=K2 just, or improve along the critical numerical value direction.
The indication K3 that will tumble at last is transported to an initialization and filter element 12.This unit 12 so is provided with, and promptly restarts the back at automobile at every turn and starts numerical value for one of the indication K1 output of tumbling, and for safety this numerical value is than higher numerical value, for example K1=1.Therefore, this numerical value facilitates the sensitivity of stable algorithm 5 to regulate.During travelling, reduce this indication K1 that tumbles then where necessary.
Unit 12 also can be used for carrying out filtering for determined estimation numerical value K3 during travelling in addition, and with its basis as the stable synthetic numerical value K1 that tumbles.The maximum that described filtering preferably can be used as all estimation numerical value K3 in this time forms, and perhaps conduct is about a kind of unsteady aviation value of estimation numerical value of definite number of times.
Also unit 12 can be set so in addition, promptly when long the travelling of no enough learning phases, when for example not having the express highway of turning and travel, the indication K1 that tumbles is brought up to the numerical value of a higher tendency of tumbling and the sensitivity adjusting that therefore cause stable algorithm 5 of an expression.Also be to make unit 12 startups or invalid according to the driving dynamics parameter G that has stipulated.
Said apparatus can be both by statically, also by dynamically considering the relation between a turn around parameters and swing parameter, especially accurately and reliably estimate the automobile tendency of tumbling.
Reference numerals list
1 control appliance
2 ESP sensing devices
3 actuators
4 are used to form an indication
The function of device parameter
5 stable algorithms of tumbling
6 swing parameter sensing devices
7 signal conditioning and monitoring
8 fuzzy message processing equipment
9 stop systems
10 engine managements
11 characteristic curvees
12 initial-and filter element
The ay transverse acceleration
The variation of day/dt transverse acceleration
P influences parameter
The Lw turn around parameters
W swings parameter
K1, K2, the K3 indication parameter of tumbling
The S indication parameter

Claims (11)

1. be used for when critical motoring condition for the automobile method of stabilizing of tumbling, wherein, by a sensing device (2,6) gather different motoring condition parameter (ay, day/dt, P), and by an actr (3,9,10) make the stable algorithm of tumbling (4,5) in the critical conditions of tumbling intervene the operation of travelling, to stablize automobile, it is characterized in that estimate about the tumble information of tendency (K1) of automobile, this is tumbled to be inclined to and considers in the stable scope of tumbling from the relation between a turn around parameters (Lw) and one swing parameter (W).
2. in accordance with the method for claim 1, it is characterized in that, obtain one so as to stable the intervention opened or invalid indication parameter (S), perhaps obtain the feature or the parameter of the stable algorithm of tumbling (4,5) according to the tendency (K1) of tumbling.
3. in accordance with the method for claim 1, it is characterized in that described turn around parameters comprises a deflection angle (Lw) or a turning velocity (dLw/dt).
4. in accordance with the method for claim 1, it is characterized in that, swing parameter (W) comprises wheel support power, spring stroke, normal acceleration or pivot angle or the parameter that therefrom derives-scroll rate for example.
5. according to each described method in the aforementioned claim, it is characterized in that, change one of the stable algorithm of tumbling (4,5) according to the tendency (K1) of tumbling and adjust threshold value, adjust deviation or an adjustment data for one of algorithm (5).
6. in accordance with the method for claim 1, it is characterized in that, obtain the indication (K1) of tumbling that a display automobile is tumbled and is inclined to from turn around parameters (Lw) and swing parameter (W).
7. in accordance with the method for claim 5, it is characterized in that, obtain the indication (K1) of tumbling by fuzzy message processing equipment (8).
8. in accordance with the method for claim 7, it is characterized in that, estimate the described indication (K3) of tumbling with the evaluation function (V) of the quality of evaluation of the indication (K3) of representing to tumble.
9. be used at critical motoring condition for the tumble driving dynamics control system of stabilization of automobile, this system comprises that stores the stable algorithm (4 of tumbling therein, 5) control convenience (1), an actual numerical value (ay who is used to gather adjusting, day/dt, P) sensing device (2) and an actr (3) that is used to carry out a kind of stable intervention, it is characterized in that, a sensing device (6) that is used to gather a swing parameter (W) is set, a sensing device (2) that is used for determining a turn around parameters (Lw), and one from described turning to-the swing device (8) of tendency (K1) that tumble that considers in the stable scope of tumbling that estimates automobile the parameter (W).
10. according to the described driving dynamics control system of claim 9, it is characterized in that, according to the tendency (K1) of tumbling, described control convenience (1) is obtained one so as to stable the intervention opened or invalid indication parameter (S) or obtain the feature or the parameter of the described stable algorithm of tumbling (4,5).
11., it is characterized in that in order to obtain a swing parameter (W), described sensing device (6) comprises a scroll rate sensor according to claim 9 or 10 described driving dynamics control systems.
CNB2004800116178A 2003-07-11 2004-06-23 Driving dynamics regulation system adapted to the rolling behaviour of a vehicle Expired - Fee Related CN100497016C (en)

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