DE102004053236B4 - Method for determining a longitudinal acceleration of a motor vehicle - Google Patents
Method for determining a longitudinal acceleration of a motor vehicle Download PDFInfo
- Publication number
- DE102004053236B4 DE102004053236B4 DE200410053236 DE102004053236A DE102004053236B4 DE 102004053236 B4 DE102004053236 B4 DE 102004053236B4 DE 200410053236 DE200410053236 DE 200410053236 DE 102004053236 A DE102004053236 A DE 102004053236A DE 102004053236 B4 DE102004053236 B4 DE 102004053236B4
- Authority
- DE
- Germany
- Prior art keywords
- motor vehicle
- acceleration
- determined
- longitudinal acceleration
- determining
- 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.)
- Expired - Fee Related
Links
Classifications
-
- 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
- B60G17/018—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
-
- 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
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0512—Pitch angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/053—Angular acceleration
- B60G2400/0532—Pitch acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Verfahren
zur Ermittlung einer Längsbeschleunigung αx eines
Kraftfahrzeuges parallel zu einer Fahrbahn mit Sensoren zur Erfassung
von das Fahrverhalten charakterisierender Größen,
dadurch gekennzeichnet,
dass
aus den erfassten das Fahrverhalten charakterisierenden Größen die
Federbeinkräfte
FFB, eine Nickwinkelbeschleunigung φ .. und
eine Hubbeschleunigung z ..A abgeleitet werden
und aus welchen mittels einer Bewegungsgleichung
characterized,
that the spring characteristic forces F FB , a pitch angular acceleration φ .. and a stroke acceleration z .. A are derived from the detected variables characterizing the driving behavior and from which by means of an equation of motion
Description
Die Erfindung betrifft ein Verfahren zur Ermittlung einer Längsbeschleunigung αx eines Kraftfahrzeuges parallel zu einer Fahrbahn mit Sensoren zur Erfassung von das Fahrverhalten charakterisierender Größen gemäß dem Oberbegriff des Patentanspruches 1.The invention relates to a method for determining a longitudinal acceleration α x of a motor vehicle parallel to a roadway with sensors for detecting variables characterizing the driving behavior according to the preamble of patent claim 1.
In der Praxis wird die Längsbeschleunigung αx eines Kraftfahrzeugs aus verschiedenen Größen ermittelt, welche sensortechnisch im Kraftfahrzeug erfasst werden. Als Größen zur Bestimmung der Längsbeschleunigung αx werden insbesondere eine Raddrehzahl, ein Radschlupf, ein Antriebsmoment und/oder ein Bremsdruck berücksichtigt. Die so bestimmte Längsbeschleunigung αx kann einen großen Fehler aufweisen, welcher beispielsweise durch einen großen Radschlupf oder durch große Steigungen und Gefälle einer Fahrbahn verursacht werden können.In practice, the longitudinal acceleration α x of a motor vehicle is determined from various variables which are detected by sensors in the motor vehicle. As variables for determining the longitudinal acceleration α x , in particular a wheel speed, a wheel slip, a drive torque and / or a brake pressure are taken into account. The thus determined longitudinal acceleration α x can have a large error, which can be caused for example by a large wheel slip or by large inclines and slopes of a roadway.
Aus
der
In
der
Außerdem ist
aus der
Der Erfindung liegt nun die Aufgabe zugrunde, ein Verfahren zur Ermittlung einer Längsbeschleunigung αx eines Kraftfahrzeuges parallel zu einer Fahrbahn mit Sensoren zur Erfassung von das Fahrverhalten charakterisierender Größen anzugeben, welches mit einem nur geringem Aufwand eine gegenüber dem Stand der Technik zuverlässigere Ermittlung der Längsbeschleunigung αx des Kraftfahrzeuges gewährleistet.The invention is based on the object of specifying a method for determining a longitudinal acceleration α x of a motor vehicle parallel to a roadway with sensors for detecting variables characterizing the driving behavior, which with a little effort a more reliable compared to the prior art determination of the longitudinal acceleration α x of the motor vehicle ensured.
Die genannte Aufgabe wird gelöst durch ein Verfahren zur Ermittlung einer Längsbeschleunigung αx eines Kraftfahrzeuges parallel zu einer Fahrbahn mit Sensoren zur Erfassung von das Fahrverhalten charakterisierender Größen mit den Merkmalen des Patentanspruches 1.The stated object is achieved by a method for determining a longitudinal acceleration α x of a motor vehicle parallel to a roadway with sensors for detecting variables characterizing the driving behavior with the features of patent claim 1.
Erfindungsgemäß werden
aus den erfassten das Fahrverhalten charakterisierenden Größen die Federbeinkräfte FFB, eine Nickwinkelbeschleunigung φ .. und eine
Hubbeschleunigung z ..A abgeleitet, aus welchen
mittels einer Bewegungsgleichung
In einer Ausgestaltung der Erfindung wird aus Federwegmessungen an den Federbeinen eines Fahrwerks des Kraftfahrzeugs der Nickwinkel φ und ein Hub zA ermittelt, wobei der Hub zA eine Vertikalbewegung eines Kraftfahrzeugaufbaus des Kraftfahrzeugs beschreibt. Aus einer Vertikalbeschleunigungsmessung wird die Nickwinkelbeschleunigung φ .. bestimmt, wobei zusätzlich aus der Vertikalbeschleunigungsmessung eine Hubbeschleunigung z ..A abgeleitet wird. Unter Zuhilfenahme einer Bewegungsgleichung eines Hub-Nickmodells für eine Bewegung des Kraftfahrzeugs kann mit den ermittelten Größen und weiterer Größen die Längsbeschleunigung αx des Kraftfahrzeugs berech net werden. Eine Bestimmung der Längsbeschleunigung αx aus solchen das Fahrverhalten charakterisierenden Größen, beispielsweise einem Radschlupf, welche mit einem erheblichen Messfehler behaftet sind, entfällt.In one embodiment of the invention, the pitch angle φ and a stroke z A is determined from spring travel measurements on the struts of a chassis of the motor vehicle, wherein the stroke z A describes a vertical movement of a motor vehicle body of the motor vehicle. From a vertical acceleration measurement, the pitch angle acceleration φ .. is determined, wherein additionally from the vertical acceleration measurement, a stroke acceleration z .. A is derived. With the aid of an equation of motion of a hub pitch model for a movement of the motor vehicle, the longitudinal acceleration α x of the motor vehicle can be calculated using the determined variables and other variables. A determination of the longitudinal acceleration α x from such variables characterizing the driving behavior, for example a wheel slip, which are associated with a considerable measuring error, is eliminated.
Weitere vorteilhafte Ausgestaltungen der Erfindung sind den Unteransprüchen zu entnehmen.Further advantageous embodiments of the invention are the dependent claims remove.
Die Erfindung wird anhand eines Ausführungsbeispiels in der Figur näher erläutert, wobei die Figur eine Vorrichtung zur Durchführung eines Verfahrens zur Ermittlung einer Längsbeschleunigung αx eines Kraftfahrzeugs in einem Ausschnitt in einer schematischen Darstellung zeigt.The invention will be explained in more detail with reference to an embodiment in the figure, wherein the figure shows a device for performing a method for determining a longitudinal acceleration α x of a motor vehicle in a section in a schematic representation.
Eine
Vorrichtung
Bei
einem Verfahren zur Ermittlung der Längsbeschleunigung αx des
Kraftfahrzeuges wird aus den mit den Sensoren
Der
Nickwinkel φ und
ein Hub zA werden in diesem Ausführungsbeispiel
aus den Federwegmessung der Federwege zfi mit
den Sensoren
Die
Nickwinkelbeschleunigung φ .. und eine Hubbeschleunigung z ..A werden
aus der Vertikalbeschleunigungsmessung der Vertikalbeschleunigung αzi mit
dem Sensor
Aus
den Drehmomentbilanzen für
die Räder des
Kraftfahrzeugs, wobei die Drehmomentbilanzen jeweils ein Bremsmoment
Mbi, ein Antriebsmoment Mai und
einen Trägheitsanteil
JRω .i umfassen, wird eine
auf das jeweilige Rad wirkende Umfangskraft Fxi bestimmt:
- JR:
- Massenträgheitsmoment.
- J R :
- Inertia.
Anschließend werden
aus den ermittelten Umfangskräften
Fxi, dem Nickwinkel φ und dem Hub zA mittels
eines Hub-Nickmodells
für das
Kraftfahrzeug die auf die auf die Feder beine des Fahrwerks einwirkenden
Federbeinkräfte
FFB bestimmt und in Vektorform dargestellt:
- H:
- eine bekannte Geometriematrix,
- A1, A2:
- die bekannten Matrizen der Federsteifigkeit und Dämpfungskonstanten,
- εν, εh:
- die bekannten Stützwinkel, welche beim Antrieb und bei der Abbremsung unterschiedlich, sind.
- H:
- a known geometry matrix,
- A 1 , A 2 :
- the known matrices of spring stiffness and damping constants,
- ε ν , ∈ h :
- the known support angle, which are different when driving and braking.
Mittels einer Bewegungsgleichung mit
- T*T G:
- bekannte Geometriematrix,
- hn:
- bekannter Abstand zwischen Schwerpunkt des Kraftfahrzeugs und Nickpol,
- T * TG:
- known geometry matrix,
- n h:
- known distance between the center of gravity of the motor vehicle and Nickpol,
Es können verschiedene Hub-Nickmodelle für die Berechnung der Längsbeschleunigung αx des Kraftfahrzeugs in Anwendung gebracht werden.Various Hub-Nick models for the calculation of the longitudinal acceleration α x of the motor vehicle can be applied.
Das erfindungsgemäße Verfahren zur Ermittlung der Längsbeschleunigung αx des Kraftfahrzeugs weist eine hohe Genauigkeit bezüglich des ermittelbaren Wertes für die Längsbeschleunigung αx auf, da die im Verfahren verwendeten Größen, welche das Fahrverhalten des Kraftfahrzeugs charakterisieren, nur geringen Messfehlern unterliegen. Es ergibt sich ein Mehrwert aus einer im Regelfall bereits serienmäßig im Kraftfahrzeug eingesetzten Sensorik zur Erfassung der das Fahrverhalten charakterisierenden Größen ohne zusätzlichen Hardwareaufwand.The inventive method for determining the longitudinal acceleration α x of the motor vehicle has a high accuracy with respect to the determinable value for the longitudinal acceleration α x , since the variables used in the method, which characterize the driving behavior of the motor vehicle, are subject to only minor measurement errors. This results in an added value from a sensor system, which as a rule is already used as standard in the motor vehicle, for detecting the variables characterizing the driving behavior without additional hardware expenditure.
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410053236 DE102004053236B4 (en) | 2004-11-04 | 2004-11-04 | Method for determining a longitudinal acceleration of a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410053236 DE102004053236B4 (en) | 2004-11-04 | 2004-11-04 | Method for determining a longitudinal acceleration of a motor vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102004053236A1 DE102004053236A1 (en) | 2006-05-11 |
DE102004053236B4 true DE102004053236B4 (en) | 2006-10-19 |
Family
ID=36217119
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200410053236 Expired - Fee Related DE102004053236B4 (en) | 2004-11-04 | 2004-11-04 | Method for determining a longitudinal acceleration of a motor vehicle |
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Country | Link |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007001674A1 (en) * | 2007-01-11 | 2008-07-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining drive torque of motor vehicle, involves determining drive torque from determined longitudinal acceleration of motor vehicle and determined change of height level at axle of motor vehicle |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT201900002533A1 (en) * | 2019-02-21 | 2020-08-21 | Faiveley Transport Italia Spa | Procedure for detecting a braking action of a railway vehicle and emergency braking procedure for a railway vehicle. |
DE102019210670A1 (en) * | 2019-07-18 | 2021-01-21 | Robert Bosch Gmbh | Method and device for operating a brake system, computer program and computer program product, brake system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4217710A1 (en) * | 1992-06-01 | 1993-12-02 | Porsche Ag | Continuous detection of slippery winter road surfaces - determining and comparing driving parameters and boundary conditions for motor car |
DE4226749C2 (en) * | 1992-08-13 | 1996-02-08 | Daimler Benz Ag | Method for determining variables that characterize driving behavior |
DE4025309C2 (en) * | 1989-08-09 | 1997-08-14 | Nissan Motor | Active suspension system for vehicles with control device for suppressing changes in position of the vehicle body |
-
2004
- 2004-11-04 DE DE200410053236 patent/DE102004053236B4/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4025309C2 (en) * | 1989-08-09 | 1997-08-14 | Nissan Motor | Active suspension system for vehicles with control device for suppressing changes in position of the vehicle body |
DE4217710A1 (en) * | 1992-06-01 | 1993-12-02 | Porsche Ag | Continuous detection of slippery winter road surfaces - determining and comparing driving parameters and boundary conditions for motor car |
DE4226749C2 (en) * | 1992-08-13 | 1996-02-08 | Daimler Benz Ag | Method for determining variables that characterize driving behavior |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007001674A1 (en) * | 2007-01-11 | 2008-07-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining drive torque of motor vehicle, involves determining drive torque from determined longitudinal acceleration of motor vehicle and determined change of height level at axle of motor vehicle |
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DE102004053236A1 (en) | 2006-05-11 |
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Legal Events
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OP8 | Request for examination as to paragraph 44 patent law | ||
8364 | No opposition during term of opposition | ||
8327 | Change in the person/name/address of the patent owner |
Owner name: DAIMLERCHRYSLER AG, 70327 STUTTGART, DE |
|
8327 | Change in the person/name/address of the patent owner |
Owner name: DAIMLER AG, 70327 STUTTGART, DE |
|
8320 | Willingness to grant licenses declared (paragraph 23) | ||
8339 | Ceased/non-payment of the annual fee |