DE102005041959A1 - Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system - Google Patents

Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system Download PDF

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Publication number
DE102005041959A1
DE102005041959A1 DE200510041959 DE102005041959A DE102005041959A1 DE 102005041959 A1 DE102005041959 A1 DE 102005041959A1 DE 200510041959 DE200510041959 DE 200510041959 DE 102005041959 A DE102005041959 A DE 102005041959A DE 102005041959 A1 DE102005041959 A1 DE 102005041959A1
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Germany
Prior art keywords
control system
vehicle
deviation angle
yaw
yaw rate
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.)
Withdrawn
Application number
DE200510041959
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German (de)
Inventor
Dario Ammann
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE200510041959 priority Critical patent/DE102005041959A1/en
Publication of DE102005041959A1 publication Critical patent/DE102005041959A1/en
Withdrawn legal-status Critical Current

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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
    • B62D6/007—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
    • 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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
    • 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
    • B60W40/103—Side slip angle of vehicle body
    • 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
    • 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
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The system has a deviation angle control system that is activated, when a yaw-rate control system is switched off by a driver of a vehicle, where the system carries out an engagement in a steering system or brake system or drive system, during deviations between a reference yaw-rate and an actual measured yaw-rate. The desired yaw-rate is determined from driving parameter of the driver and driving speed of the vehicle. The angle control system limits the measured deviation angle of the vehicle to a preset maximum value by the engagement provided to the yaw-rate control system.

Description

Die Erfindung betrifft ein Fahrdynamik-Regelsystem für ein zweispuriges Kraftfahrzeug, welches zumindest bei signifikanten Abweichungen zwischen der aus der Lenkvorgabe des Fahrers und der Fahrzeug-Fahrgeschwindigkeit ermittelten Soll-Gierrate und der aktuell gemessenen Ist-Gierrate ausgelöst durch das Regelsystem einen die Abweichung reduzierenden Eingriff in das Lenksystem oder Bremssystem oder Antriebssystem des Kraftfahrzeugs vornimmt und wobei dieses sog. Gierraten-Regelsystem vom Fahrer abgeschaltet werden kann. Dabei sei darauf hingewiesen, dass anstelle der Gierrate auch eine bzw. mehrere hiermit direkt vergleichbare Größe(n) verwendet werden kann (bzw. können), d.h. die vorliegende Erfindung betrifft auch Fahrdynamik-Regelsysteme, die anstelle der Gierrate mit dieser direkt vergleichbare Größen verwenden.The The invention relates to a vehicle dynamics control system for a two-lane motor vehicle, which at least for significant differences between the the driver's guidance and vehicle speed determined target yaw rate and the currently measured actual yaw rate triggered by the control system one the deviation reducing intervention in the steering system or braking system or drive system of the motor vehicle makes and wherein this so-called yaw rate control system can be switched off by the driver. It should be noted that instead of the yaw rate also one or more hereby directly comparable size (s) used can (or can) be, i.e. the present invention also relates to vehicle dynamics control systems, instead of using the yaw rate with these directly comparable sizes.

Solange ein Fahrdynamik-Regelsystem nach dem Oberbegriff des Anspruchs 1 in Betrieb, d.h. aktiv ist, kann ein damit ausgerüstetes Kraftfahrzeug zumindest solange, als eine ausreichende Bodenhaftung der Fzg.-Räder vorliegt, praktisch nicht in einen unsicheren Fahrzustand gelangen. Besondere Fahrmanöver (wie Drifts oder dgl.), die der Fahrer dieses Kraftfahrzeugs bewusst ausführen möchte oder ausführen muss, sind dann jedoch zumeist nicht mehr möglich. Für solche Sonderfälle kann das die Ist-Gierrate an die Soll-Gierrate anpassende Fahrdynamik-Regelsystem abgeschaltet werden. Damit ist jedoch praktisch jegliche Sicherheit verloren, d.h. der Fahrer ist in der Kontrolle dieses Fahrmanövers auf sich alleine gestellt.So long a vehicle dynamics control system according to the preamble of claim 1 in operation, i. is active, can be a vehicle equipped with it at least as long as sufficient traction of the vehicle wheels is present, practically not get into an unsafe driving condition. Special driving maneuvers (like Drifts or the like.), Which the driver of this motor vehicle aware To run would like or To run must, but then are mostly no longer possible. For such special cases can the vehicle dynamics control system adjusting the actual yaw rate to the target yaw rate be switched off. However, this is virtually any security lost, i. the driver is in control of this driving maneuver alone.

Hiermit soll nun aufgezeigt werden, wie der Fahrer bei Abschaltung eines sog. Gierraten-Regelsystems nach dem Oberbegriff des Anspruchs 1 weiterhin eine gewisse Sicherheit durch teilweise Unterstützung eines Fahrdynamik-Regelsystems erhalten kann (= Aufgabe der vorliegenden Erfindung).Herewith will now be shown how the driver when switching off a so-called yaw rate control system according to the preamble of claim 1 continue to provide some security by partially supporting one Vehicle dynamics control system can receive (= task of the present Invention).

Die Lösung dieser Aufgabe ist für ein Fahrdynamik-Regelsystem nach dem Oberbegriff des Anspruchs 1 dadurch gekennzeichnet, dass bei abgeschaltetem Gierraten-Regelsystem ein Schwimmwinkel-Regelsystem aktiv oder wählbar aktivierbar ist, das mit Hilfe des oder der dem Gierraten-Regelsystem zur Verfügung stehender/n Eingriffe(s) den geeignet geschätzten oder gemessenen Schwimmwinkel des Fahrzeugs auf einen vorgegebenen Maximalwert begrenzt.The solution this task is for a vehicle dynamics control system according to the preamble of claim 1 characterized in that when switched off yaw rate control system a float angle control system is active or selectable activated, the with the help of or the yaw rate control system available Intervention (s) the suitably estimated or measured float angle of the vehicle to a predetermined Maximum value limited.

Vorgeschlagen wird somit ein sog. Schwimmwinkel-Begrenzungsregler, der mittels geeigneter Maßnahmen den (dem Fachmann bekannten) Schwimmwinkel des Fahrzeugs auf einen vorgegebenen Maximalwert begrenzt, wenn der sog. Gierraten-Regler abgeschaltet ist. Dieser Schwimmwinkel-Begrenzungsregler kann dabei mit Abschalten des Gierraten-Reglers stets und selbsttätig aktiv werden oder es kann dieser sog. Schwimmwinkel-Begrenzungsregler vom Fahrer des Kraftfahrzeugs bewusst oder gezielt aktiviert, d.h. eingeschaltet werden.proposed Thus, a so-called. Floating angle limiting controller, by means of appropriate measures the (known in the art) float angle of the vehicle to a limited maximum value, if the so-called yaw rate controller is switched off. This float angle limiter can do this with switching off the yaw rate controller always and automatically active or it may be this so-called slip angle limiting controller intentionally or specifically activated by the driver of the motor vehicle, i. be turned on.

Vorzugsweise wird zumindest bei aktivem Schwimmwinkel-Begrenzungsregler der aktuelle Schwimmwinkel gemessen, was bspw. analog dem in der DE 3935 586 A1 beschriebenen Stand der Technik erfolgen kann. Alternativ kann der Schwimmwinkel in einer elektronischen Recheneinheit jedoch auch geeignet geschätzt werden. Durch Vergleichen des so erhaltenen aktuellen Schwimmwinkels mit dem vorgegebenen Schwimmwinkel-Maximalwert kann dann der Regler im Sinne einer Minimierung einer positiven Regelabweichung aktiv werden. Dabei muss der Schwimmwinkel-Maximalwert keineswegs konstant sein, sondern kann von aktuellen Randbedingungen abhängig sein.Preferably, the current slip angle is measured, at least when active float angle limiting controller, which, for example. Analogous to that in the DE 3935 586 A1 described prior art can be done. Alternatively, however, the slip angle in an electronic processing unit may also be suitably estimated. By comparing the thus obtained current float angle with the predetermined float angle maximum value, the controller can then be active in the sense of minimizing a positive control deviation. In this case, the float angle maximum value by no means must be constant, but may be dependent on current boundary conditions.

Was die Maßnahmen zur Begrenzung des Schwimmwinkels betrifft, so kann der sog. Schwimmwinkel-Begrenzungsregler hierzu die Fahrgeschwindigkeit des Fahrzeugs reduzieren und/oder durch geeignete einseitige Veränderung der an den Rädern übertragenen Längskräfte ein geeignetes Giermoment erzeugen und/oder in das Lenksystem des Fahrzeugs eingreifen und geeignet gegenlenken.What the measures Concerning the limitation of the slip angle, the so-called float angle limiting controller can be used reduce the vehicle speed and / or through appropriate unilateral change the transmitted at the wheels Longitudinal forces generate appropriate yaw moment and / or in the steering system of the vehicle intervene and counteract appropriately.

Die vorgeschlagene Maßnahme garantiert zwar keine Stabilität des Fahrzustands, kann jedoch den Fahrer bei der fahrzustands-stabilen Durchführung eines von ihm gewünschten Fahrmanövers zumindest unterstützen.The proposed measure does not guarantee stability the driving condition, but can the driver in the driving stable execution one of his desired maneuver at least support.

Claims (1)

Fahrdynamik-Regelsystem für ein zweispuriges Kraftfahrzeug, welches zumindest bei signifikanten Abweichungen zwischen der aus der Lenkvorgabe des Fahrers und der Fahrzeug-Fahrgeschwindigkeit ermittelten Soll-Gierrate und der aktuell gemessenen Ist-Gierrate ausgelöst durch das Regelsystem einen die Abweichung reduzierenden Eingriff in das Lenksystem oder Bremssystem oder Antriebssystem des Kraftfahrzeugs vornimmt und wobei dieses sog. Gierraten-Regelsystem vom Fahrer abgeschaltet werden kann, dadurch gekennzeichnet, dass bei abgeschaltetem Gierraten-Regelsystem ein Schwimmwinkel-Regelsystem aktiv oder wählbar aktivierbar ist, das mit Hilfe des oder der dem Gierraten-Regelsystem zur Verfügung stehender/n Eingriffe(s) den geeignet geschätzten oder gemessenen Schwimmwinkel des Fahrzeugs auf einen vorgegebenen Maximalwert begrenzt.Vehicle dynamics control system for a two-lane motor vehicle which, at least in the case of significant deviations between the target yaw rate determined from the driver's steering input and the vehicle driving speed and the currently measured actual yaw rate triggered by the control system, intervenes to reduce the deviation in the steering system or brake system or whereby the so-called yaw rate control system can be switched off by the driver, characterized in that when the yaw rate control system is switched off, a slip angle control system can be actively or selectively activated, which is available with the aid of the yaw rate control system standing interventions (s) the suitably estimated or measured slip angle of the vehicle on a vorge limited maximum value.
DE200510041959 2005-09-03 2005-09-03 Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system Withdrawn DE102005041959A1 (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2112041A2 (en) 2008-04-24 2009-10-28 Honda Motor Co., Ltd. Vehicle body drifting restraining device
DE102013200024A1 (en) * 2013-01-02 2014-07-03 Bayerische Motoren Werke Aktiengesellschaft Counter-steering assistant unit for motor car, generates steering torque upon detection of rapid increase yaw movement, where counter-steering is configured such that oscillating movement of rear portion of motor car is actively damped
DE102014000068A1 (en) * 2014-01-09 2015-07-09 Wabco Gmbh Method, control device and vehicle dynamics control system for stability control of a vehicle
DE102016214564A1 (en) * 2016-08-05 2018-02-08 Volkswagen Aktiengesellschaft Method and control system for driving dynamics control of a vehicle and vehicle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4305155A1 (en) * 1993-02-19 1994-08-25 Bosch Gmbh Robert Vehicle dynamics control system
DE19964032A1 (en) * 1999-12-30 2001-07-05 Bosch Gmbh Robert Stabilizing vehicle involves regulating transverse dynamic parameter describing transverse dynamic properties of vehicle so that vehicle's float angle is limited to predefined value
DE10328685A1 (en) * 2003-06-26 2005-01-13 Daimlerchrysler Ag Device for stabilizing a vehicle while driving along bends, comprises front and rear wheel angle actuators for controlling corresponding front and rear wheel steering angles
DE102004053785A1 (en) * 2003-11-19 2005-06-30 Robert Bosch Gmbh Producing drift-function for motor vehicle involves using driver-independent steering interventions and driver-independent variations of engine torque; floating angle can be regulated to value defined by driver

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4305155A1 (en) * 1993-02-19 1994-08-25 Bosch Gmbh Robert Vehicle dynamics control system
DE19964032A1 (en) * 1999-12-30 2001-07-05 Bosch Gmbh Robert Stabilizing vehicle involves regulating transverse dynamic parameter describing transverse dynamic properties of vehicle so that vehicle's float angle is limited to predefined value
DE10328685A1 (en) * 2003-06-26 2005-01-13 Daimlerchrysler Ag Device for stabilizing a vehicle while driving along bends, comprises front and rear wheel angle actuators for controlling corresponding front and rear wheel steering angles
DE102004053785A1 (en) * 2003-11-19 2005-06-30 Robert Bosch Gmbh Producing drift-function for motor vehicle involves using driver-independent steering interventions and driver-independent variations of engine torque; floating angle can be regulated to value defined by driver

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2112041A2 (en) 2008-04-24 2009-10-28 Honda Motor Co., Ltd. Vehicle body drifting restraining device
EP2112041A3 (en) * 2008-04-24 2009-11-18 Honda Motor Co., Ltd. Vehicle body drifting restraining device
US8170754B2 (en) 2008-04-24 2012-05-01 Honda Motor Co., Ltd. Vehicle body drifting restraining device
DE102013200024A1 (en) * 2013-01-02 2014-07-03 Bayerische Motoren Werke Aktiengesellschaft Counter-steering assistant unit for motor car, generates steering torque upon detection of rapid increase yaw movement, where counter-steering is configured such that oscillating movement of rear portion of motor car is actively damped
DE102014000068A1 (en) * 2014-01-09 2015-07-09 Wabco Gmbh Method, control device and vehicle dynamics control system for stability control of a vehicle
DE102016214564A1 (en) * 2016-08-05 2018-02-08 Volkswagen Aktiengesellschaft Method and control system for driving dynamics control of a vehicle and vehicle

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Effective date: 20110401