DE102005013807A1 - Verfahren und Vorrichtung zum Schätzen des Lenkverhaltens für eine integrierte Fahrwerksregelung - Google Patents
Verfahren und Vorrichtung zum Schätzen des Lenkverhaltens für eine integrierte Fahrwerksregelung Download PDFInfo
- Publication number
- DE102005013807A1 DE102005013807A1 DE102005013807A DE102005013807A DE102005013807A1 DE 102005013807 A1 DE102005013807 A1 DE 102005013807A1 DE 102005013807 A DE102005013807 A DE 102005013807A DE 102005013807 A DE102005013807 A DE 102005013807A DE 102005013807 A1 DE102005013807 A1 DE 102005013807A1
- Authority
- DE
- Germany
- Prior art keywords
- steering
- steering behavior
- estimating
- chassis control
- steady state
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
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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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W40/10—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 vehicle motion
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/11—Pitch movement
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/112—Roll movement
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Ein Verfahren und eine Vorrichtung zur Schaffung einer integrierten Fahrwerksregelung eines Fahrzeugs über einen weiten Bereich des Fahrzeugdynamikbereichs einschließlich eines Beharrungslenkzustands und eines nichtstationären Lenkzustands sowie eines linearen und nicht linearen Reifenverhaltens anhand der allgemeinen Lenkgleichung unter Verwendung eines geschätzten Untersteuer/Übersteuer-Lenkverhaltensindikators. Das Verfahren und die Vorrichtung sind insbesondere so beschaffen, dass sie eine Gierregelvorrichtung und ein Gierregelverfahren schaffen. Der Lenkverhaltensindikator kann als eine Funktion bestimmter Fahrzeugdynamikzustandseingaben berechnet werden. Ein Gewichtungsfaktor für die Berechnung des Lenkverhaltensindikators wird als eine Funktion bestimmter Fahrzeugdynamikzustandsangabeparameter bestimmt.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/812,438 | 2004-03-30 | ||
US10/812,438 US7099759B2 (en) | 2004-03-30 | 2004-03-30 | Method and apparatus for estimating steering behavior for integrated chassis control |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102005013807A1 true DE102005013807A1 (de) | 2005-10-20 |
DE102005013807B4 DE102005013807B4 (de) | 2009-09-10 |
Family
ID=35034271
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102005013807A Expired - Fee Related DE102005013807B4 (de) | 2004-03-30 | 2005-03-24 | Verfahren zum Regeln eines Fahrzeugs und integriertes Fahrzeugregelungssystem |
Country Status (2)
Country | Link |
---|---|
US (1) | US7099759B2 (de) |
DE (1) | DE102005013807B4 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021205914A1 (de) | 2021-06-10 | 2022-06-30 | Zf Friedrichshafen Ag | Achsen-Antriebssystem eines Fahrzeugs |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4389208B2 (ja) * | 2004-02-12 | 2009-12-24 | 株式会社デンソー | 電動パワーステアリング制御装置 |
JP4391304B2 (ja) * | 2004-04-23 | 2009-12-24 | 日産自動車株式会社 | 減速制御装置 |
JP2005343315A (ja) * | 2004-06-03 | 2005-12-15 | Toyoda Mach Works Ltd | 車両用操舵装置 |
US20070005203A1 (en) * | 2005-06-30 | 2007-01-04 | Padma Sundaram | Vehicle diagnostic system and method for monitoring vehicle controllers |
US7565946B2 (en) * | 2005-10-11 | 2009-07-28 | Toyota Jidosha Kabushiki Kaisha | Vehicle counting counter-steer operation by driver in oversteer suppress control |
US7571039B2 (en) * | 2006-08-08 | 2009-08-04 | Gm Global Technology Operations, Inc. | Vehicle yaw/roll stability control with semi-active suspension |
US8116943B2 (en) * | 2008-04-24 | 2012-02-14 | GM Global Technology Operations LLC | Method and apparatus for minimizing driver disturbance in a limited by-wire active steering system |
US8825295B2 (en) | 2010-08-16 | 2014-09-02 | Honda Motor Co., Ltd. | System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same |
US9205869B2 (en) | 2010-08-16 | 2015-12-08 | Honda Motor Co., Ltd. | System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same |
US8862324B2 (en) * | 2011-03-07 | 2014-10-14 | Steering Solutions Ip Holding Corporation | Damping methods and systems for electric power steering |
CN104067328B (zh) * | 2012-01-25 | 2017-04-26 | 丰田自动车株式会社 | 车辆控制装置 |
EP2858865B1 (de) | 2012-06-07 | 2019-04-03 | Jaguar Land Rover Limited | Verbesserungen an einer fahrzeuglenkung |
WO2017168466A1 (ja) * | 2016-03-30 | 2017-10-05 | 川崎重工業株式会社 | 鞍乗型車両の設定支援装置 |
CN108791276B (zh) * | 2017-04-26 | 2020-05-19 | 湖南大学 | 一种轮胎侧向力线性/非线性工作状态快速判断方法 |
CN109109861B (zh) * | 2018-09-24 | 2020-02-14 | 合肥工业大学 | 车道保持横向控制决策方法及车道保持横向控制决策装置 |
US11396287B2 (en) | 2020-02-14 | 2022-07-26 | GM Global Technology Operations LLC | Architecture and methodology for real-time target wheel slip identification to optimally manage wheel stability and vehicle lateral grip |
US11338796B1 (en) | 2020-12-17 | 2022-05-24 | GM Global Technology Operations LLC | Apparatus and methodology for wheel stability monitoring system |
US20220206498A1 (en) * | 2020-12-30 | 2022-06-30 | Jingsheng Yu | Lateral control in path-tracking of autonomous vehicle |
US11318924B1 (en) | 2021-01-11 | 2022-05-03 | GM Global Technology Operations LLC | Torque distribution system for redistributing torque between axles of a vehicle |
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JPH0481316A (ja) * | 1990-07-23 | 1992-03-16 | Toyota Central Res & Dev Lab Inc | 車両の統合制御装置 |
US6513886B1 (en) * | 1996-05-07 | 2003-02-04 | General Motors Corporation | Brake system control in which update of wheel speed normalization factors is selectively inhibited |
US6325469B1 (en) * | 1996-09-06 | 2001-12-04 | General Motors Corporation | Brake control system |
US6212460B1 (en) * | 1996-09-06 | 2001-04-03 | General Motors Corporation | Brake control system |
US6547343B1 (en) * | 1997-09-08 | 2003-04-15 | General Motors Corporation | Brake system control |
US6035251A (en) * | 1997-11-10 | 2000-03-07 | General Motors Corporation | Brake system control method employing yaw rate and ship angle control |
US6125319A (en) * | 1998-08-17 | 2000-09-26 | General Motors Corporation | Brake system control method responsive to measured vehicle acceleration |
JP3546423B2 (ja) * | 1999-04-02 | 2004-07-28 | 日産自動車株式会社 | 車両運動制御装置 |
US6415215B1 (en) * | 2000-02-23 | 2002-07-02 | Koyo Seiko Co., Ltd. | Vehicle attitude control apparatus |
DE10039782A1 (de) * | 2000-08-16 | 2002-02-28 | Daimler Chrysler Ag | Verfahren zur Regelung der Gier-und Querdynamik bei einem Straßenfahrzeug |
US6453226B1 (en) * | 2001-01-25 | 2002-09-17 | Delphi Technologies, Inc. | Integrated control of active tire steer and brakes |
US6895318B1 (en) * | 2001-03-20 | 2005-05-17 | Trw Limited | Oversteer steering assistance controller |
GB0106924D0 (en) * | 2001-03-20 | 2001-05-09 | Lucas Industries Ltd | Oversteer steering assistance controller |
KR100684033B1 (ko) * | 2002-02-23 | 2007-02-16 | 주식회사 만도 | 차량의 주행 안정성 제어방법 |
JP4055438B2 (ja) * | 2002-03-04 | 2008-03-05 | 三菱自動車工業株式会社 | 操舵・制動統合制御装置 |
US6662898B1 (en) * | 2002-10-16 | 2003-12-16 | Ford Global Technologies, Llc | Tire side slip angle control for an automotive vehicle using steering actuators |
-
2004
- 2004-03-30 US US10/812,438 patent/US7099759B2/en not_active Expired - Fee Related
-
2005
- 2005-03-24 DE DE102005013807A patent/DE102005013807B4/de not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021205914A1 (de) | 2021-06-10 | 2022-06-30 | Zf Friedrichshafen Ag | Achsen-Antriebssystem eines Fahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
US7099759B2 (en) | 2006-08-29 |
DE102005013807B4 (de) | 2009-09-10 |
US20050222731A1 (en) | 2005-10-06 |
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Free format text: PFANDRECHT AUFGEHOBEN |
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8380 | Miscellaneous part iii |
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |