DE102005037479B4 - Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug - Google Patents

Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug Download PDF

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Publication number
DE102005037479B4
DE102005037479B4 DE102005037479.4A DE102005037479A DE102005037479B4 DE 102005037479 B4 DE102005037479 B4 DE 102005037479B4 DE 102005037479 A DE102005037479 A DE 102005037479A DE 102005037479 B4 DE102005037479 B4 DE 102005037479B4
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Germany
Prior art keywords
vehicle
dynamics
control system
behavior
freedom
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DE102005037479.4A
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German (de)
English (en)
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DE102005037479A1 (de
Inventor
Dr. Odenthal Dirk
Dr. Smakman Hendrikus
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Priority to DE102005037479.4A priority Critical patent/DE102005037479B4/de
Priority to PCT/EP2006/007234 priority patent/WO2007017081A1/fr
Publication of DE102005037479A1 publication Critical patent/DE102005037479A1/de
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Classifications

    • 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
    • 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
    • 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
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • 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
    • B60T2260/02—Active Steering, Steer-by-Wire
    • 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
    • B60T2260/02—Active Steering, Steer-by-Wire
    • B60T2260/022—Rear-wheel steering; Four-wheel steering
    • 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
    • B60T2260/09—Complex systems; Conjoint control of two or more vehicle active control 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0012—Feedforward or open loop 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
DE102005037479.4A 2005-08-09 2005-08-09 Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug Active DE102005037479B4 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE102005037479.4A DE102005037479B4 (de) 2005-08-09 2005-08-09 Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug
PCT/EP2006/007234 WO2007017081A1 (fr) 2005-08-09 2006-07-22 Systeme de commande de la dynamique de mouvement d'un vehicule a moteur a double voie

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005037479.4A DE102005037479B4 (de) 2005-08-09 2005-08-09 Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug

Publications (2)

Publication Number Publication Date
DE102005037479A1 DE102005037479A1 (de) 2007-02-15
DE102005037479B4 true DE102005037479B4 (de) 2017-10-26

Family

ID=37074652

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102005037479.4A Active DE102005037479B4 (de) 2005-08-09 2005-08-09 Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug

Country Status (2)

Country Link
DE (1) DE102005037479B4 (fr)
WO (1) WO2007017081A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102105340B (zh) * 2009-03-25 2013-10-30 丰田自动车株式会社 车辆的转向装置
CN102421645B (zh) * 2009-05-07 2015-06-24 大陆-特韦斯贸易合伙股份公司及两合公司 用于执行车辆驾驶稳定性的闭环或开环控制的方法和设备
WO2012117057A1 (fr) 2011-03-01 2012-09-07 Continental Teves Ag & Co. Ohg Dispositif de sécurité pour véhicule automobile et procédé permettant de faire fonctionner un véhicule automobile
DE102012203187A1 (de) 2011-03-01 2012-09-06 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Prädiktion und Adaption von Bewegungstrajektorien von Kraftfahrzeugen
US9174641B2 (en) 2011-03-09 2015-11-03 Continental Teves Ag & Co. Ohg Safety device for a motor vehicle and method for operating a motor vehicle
DE102012217672A1 (de) 2012-09-27 2014-06-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Einstellen der Gierdämpfung an einem zweispurigen zweiachsigen Kraftfahrzeug
WO2014094772A1 (fr) 2012-12-20 2014-06-26 Continental Teves Ag & Co. Ohg Procédé et dispositif de freinage et de commande de direction automatisés d'un véhicule
DE102014200299A1 (de) * 2013-07-31 2015-02-05 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs, Computerprogramm, Computer-Programmprodukt
DE102018201189A1 (de) 2018-01-25 2019-07-25 Audi Ag Verfahren zum Betrieb eines Fahrerassistenzsystems
DE102018107612A1 (de) * 2018-03-29 2019-10-02 Thyssenkrupp Ag Kraftfahrzeug mit Hinterradlenkung und Torque-Vectoring auf der Hinterradachse
CN109435961B (zh) * 2018-11-13 2020-10-02 常熟理工学院 一种基于驾驶人特性的全线控电动汽车底盘协调控制方法
US11753071B2 (en) * 2020-01-18 2023-09-12 Steering Solutions Ip Holding Corporation Systems and methods for real-time monitoring of vehicle inertia parameter values using lateral dynamics

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3532222C2 (fr) * 1984-09-10 1992-07-02 Nissan Motor Co., Ltd., Yokohama, Kanagawa, Jp
DE4028320C2 (fr) * 1990-09-06 1993-02-18 Deutsche Forschungsanstalt Fuer Luft- Und Raumfahrt Ev, 5300 Bonn, De
DE4229380C2 (de) * 1992-09-03 1994-06-09 Daimler Benz Ag Fahrzeug mit aktiver Zusatzlenkung zur Kompensation von Seitenwindeinflüssen
DE69108480T2 (de) * 1990-08-28 1995-11-09 Nissan Motor Verfahren zur Steuerung der dynamischen Eigenschaften eines Kraftfahrzeuges.
DE19650691C2 (de) * 1996-12-07 1998-10-29 Deutsch Zentr Luft & Raumfahrt Verfahren zur Lenkunterstützung eines Fahrers eines Straßenfahrzeugs
DE10236734A1 (de) * 2002-08-09 2004-02-12 Bayerische Motoren Werke Ag Verfahren zum Führen eines mehrspurigen Fahrzeugs auf einer Kurvenbahn
DE102004020074A1 (de) * 2004-04-24 2005-11-17 Bayerische Motoren Werke Ag Kraftfahrzeug mit aktiv lenkbaren Hinterrädern

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6056371A (en) * 1998-08-24 2000-05-02 General Motors Corporation Feed-forward active brake control
EP1285833B1 (fr) * 2001-08-22 2006-09-13 Delphi Technologies, Inc. Procédé et dispositif avec une commande à action directe pour contrôle intégré de frein et de virage d'un véhicule automobile

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3532222C2 (fr) * 1984-09-10 1992-07-02 Nissan Motor Co., Ltd., Yokohama, Kanagawa, Jp
DE69108480T2 (de) * 1990-08-28 1995-11-09 Nissan Motor Verfahren zur Steuerung der dynamischen Eigenschaften eines Kraftfahrzeuges.
DE4028320C2 (fr) * 1990-09-06 1993-02-18 Deutsche Forschungsanstalt Fuer Luft- Und Raumfahrt Ev, 5300 Bonn, De
DE4229380C2 (de) * 1992-09-03 1994-06-09 Daimler Benz Ag Fahrzeug mit aktiver Zusatzlenkung zur Kompensation von Seitenwindeinflüssen
DE19650691C2 (de) * 1996-12-07 1998-10-29 Deutsch Zentr Luft & Raumfahrt Verfahren zur Lenkunterstützung eines Fahrers eines Straßenfahrzeugs
DE10236734A1 (de) * 2002-08-09 2004-02-12 Bayerische Motoren Werke Ag Verfahren zum Führen eines mehrspurigen Fahrzeugs auf einer Kurvenbahn
DE102004020074A1 (de) * 2004-04-24 2005-11-17 Bayerische Motoren Werke Ag Kraftfahrzeug mit aktiv lenkbaren Hinterrädern

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Publication number Publication date
WO2007017081A1 (fr) 2007-02-15
DE102005037479A1 (de) 2007-02-15

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