DE102005063343B4 - Method for increasing the driving stability of a vehicle - Google Patents

Method for increasing the driving stability of a vehicle Download PDF

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Publication number
DE102005063343B4
DE102005063343B4 DE102005063343.9A DE102005063343A DE102005063343B4 DE 102005063343 B4 DE102005063343 B4 DE 102005063343B4 DE 102005063343 A DE102005063343 A DE 102005063343A DE 102005063343 B4 DE102005063343 B4 DE 102005063343B4
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Germany
Prior art keywords
vehicle
intervention
increasing
steering
driving stability
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Expired - Fee Related
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DE102005063343.9A
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German (de)
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DE102005063343C5 (en
DE102005063343A1 (en
Inventor
Dr. Hecker Falk
Stefan Hummel
Ulrich Gücker
Oliver Jundt
Matthias Horn
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Knorr Bremse Systeme fuer Nutzfahrzeuge GmbH
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Knorr Bremse Systeme fuer Nutzfahrzeuge GmbH
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Application filed by Knorr Bremse Systeme fuer Nutzfahrzeuge GmbH filed Critical Knorr Bremse Systeme fuer Nutzfahrzeuge GmbH
Priority to DE102005029716.1A priority Critical patent/DE102005029716B4/en
Priority claimed from DE102005029716.1A external-priority patent/DE102005029716B4/en
Publication of DE102005063343A1 publication Critical patent/DE102005063343A1/en
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Publication of DE102005063343C5 publication Critical patent/DE102005063343C5/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • 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
    • 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
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability

Abstract

Verfahren zur Erhöhung der Fahrstabilität eines Fahrzeugs oder einer Fahrzeugkombination welches durch selbsttätige, ohne Zutun eines Fahrzeugführers erfolgende Regeleingriffe in ein den Antrieb und/oder die Bremsen und/oder die Lenkung des Fahrzeugs betätigendes Regelsystem einer Fahrzeuginstabilität entgegenwirkt, dadurch gekennzeichnet, dass wenn die Beschleunigung in Querrichtung größer als ein vorgegebener Grenzwert ist, der Gradient des Bremsdruckaufbaus an den gebremsten Rädern des Fahrzeugs auf einen maximalen Wert von 8 bar/Sekunde begrenzt wird.Method for increasing the driving stability of a vehicle or a vehicle combination which counteracts a vehicle instability by automatic control intervention taking place without the intervention of a driver in a control system actuating the drive and / or the brakes and / or the steering of the vehicle, characterized in that when the acceleration in Transverse direction is greater than a predetermined limit, the gradient of the brake pressure build-up on the braked wheels of the vehicle is limited to a maximum value of 8 bar / second.

Description

Stand der TechnikState of the art

Die Erfindung betrifft ein Verfahren zur Erhöhung der Fahrstabilität eines Fahrzeugs oder einer Fahrzeugkombination, insbesondere eines Nutzfahrzeugs, welches durch selbsttätige, ohne Zutun eines Fahrzeugführers erfolgende Regeleingriffe in ein den Antrieb und/oder die Bremsen und/oder die Lenkung des Fahrzeugs betätigendes Regelsystem einer Fahrzeuginstabilität entgegenwirkt.The invention relates to a method for increasing the driving stability of a vehicle or a vehicle combination, in particular a commercial vehicle, which counteracts by automatic, taking place without intervention of a driver control intervention in the drive and / or brakes and / or the steering of the vehicle operating control system vehicle instability ,

Ein solches Verfahren ist aus der DE 699 10 468 T2 bekannt. Elektronische Stabilitätsprogramme (ESP) zur Fahrdynamikregelung verhindern das seitliche Ausbrechen eines Fahrzeugs, indem das System in den Antrieb und/oder in die Bremsen des Fahrzeugs eingreift. ESP soll gewährleisten, dass das Fahrzeug beim Lenken nicht schiebt oder instabil wird. Es unterstützt den Fahrer auch in querdynamisch kritischen Situationen und erhält die Fahrstabilität, die Spur- und Richtungstreue im Grenzbereich insbesondere bei einer Vollbremsung und bei extremen Lenkmanövern. Weiterhin existieren Antiblockiersysteme (ABS), welche die Räder während eines Bremsvorgangs in einen optimalen Schlupf bringen.Such a method is from the DE 699 10 468 T2 known. Electronic stability programs (ESP) for vehicle dynamics control prevent the lateral breaking out of a vehicle by the system intervening in the drive and / or in the brakes of the vehicle. ESP is designed to ensure that the vehicle does not push or become unstable when steering. It also supports the driver in critical lateral-dynamic situations and maintains the driving stability, the lane and directionality in the limit area, in particular during full braking and extreme steering maneuvers. Furthermore, there are anti-lock braking systems (ABS), which bring the wheels during a braking operation in an optimal slip.

Durch Roll-Stabilitäts-Programme (RSP) soll ein Kippen eines Fahrzeugs oder einer Fahrzeugkombination in Kurven durch Motormoment- und/oder Bremseingriffe sowie eventuell durch zusätzliche Lenkeingriffe verhindert werden, welche allesamt selbsttätig, d. h. ohne Zutun des Fahrzeugführers erfolgen.By roll stability programs (RSP) tilting of a vehicle or a vehicle combination in curves by engine torque and / or braking interventions and possibly by additional steering interventions to be prevented, all of which automatically, d. H. done without intervention by the driver.

Aus der DE 199 16 267 A1 ist ein Verfahren zur Stabilisierung eines Fahrzeugs oder einer Fahrzeugkombination bekannt, welches durch selbsttätige, ohne Zutun eines Fahrzeugführers erfolgende Regeleingriffe in ein den Antrieb und/oder die Bremsen und/oder die Lenkung des Fahrzeugs betätigendes Regelsystem einer Fahrzeuginstabilität entgegenwirkt, wobei, wenn die Anweichung einer Sollbewegung von einer Istbewegung einen Schwellwert überschreitet, der Gradient des Bremsdruckaufbaus an den gebremsten Rädern des Fahrzeugs auf einen maximalen Wert von 10 bar/Sekunde bis 20 bar/Sekunde begrenzt wird.From the DE 199 16 267 A1 a method for stabilizing a vehicle or a vehicle combination is known, which counteracts by automatic, taking place without the intervention of a driver's control interventions in the drive and / or brakes and / or the steering of the vehicle actuated control system of vehicle instability, wherein, if the Anweichung a Target movement of an actual movement exceeds a threshold, the gradient of the brake pressure build-up on the braked wheels of the vehicle is limited to a maximum value of 10 bar / second to 20 bar / second.

Aus der DE 196 28 973 A1 ist ein Verfahren zur Stabilisierung eines Fahrzeugs oder einer Fahrzeugkombination bekannt, welches durch selbsttätige, ohne Zutun eines Fahrzeugführers erfolgende Regeleingriffe in ein den Antrieb und/oder die Bremsen und/oder die Lenkung des Fahrzeugs betätigendes Regelsystem einer Fahrzeuginstabilität entgegenwirkt, wobei im Falle einer Kurvenerkennung, falls die Radgeschwindigkeitsdifferenz einen Schwellwert überschreitet, der Gradient des Bremsdruckaufbaus an den gebremsten Rädern des Fahrzeugs zwischen einem Maximalwert und einem Minimalwert eingestellt wird.From the DE 196 28 973 A1 a method for stabilizing a vehicle or a vehicle combination is known, which counteracts by automatic, taking place without the intervention of a driver's control interventions in the drive and / or the brakes and / or the steering of the vehicle actuated control system of a vehicle instability, wherein in the case of a curve detection, if the wheel speed difference exceeds a threshold, the gradient of the brake pressure build-up on the braked wheels of the vehicle is set between a maximum value and a minimum value.

Aus der EP 0 939 016 A1 ist bekannt, für die gebremsten Räder des Fahrzeugs voneinander unabhängige Bremswerte zu erzeugen und wenn die Beschleunigung in Querrichtung größer als ein vorgegebener Grenzwert ist, wenigstens ein kurvenäußeres Rad mit einem größeren Bremswert zu beaufschlagen als wenigstens ein kurveninneres Rad.From the EP 0 939 016 A1 It is known to generate independent braking values for the braked wheels of the vehicle, and when the transverse acceleration is greater than a predetermined limit, to apply at least one outer wheel to a greater braking value than at least one inner wheel.

Dabei ist der Fahrer auf die Regeleingriffe oft nicht vorbereitet, so dass nicht ausgeschlossen werden kann, dass er insbesondere bei Lenk- und/oder Bremseingriffen des Regelsystems erschrickt und versucht, diese Eingriffe durch eigenes Lenken oder Bremsen rückgängig zu machen. Dabei besteht das Risiko, dass das Fahrzeug instabil wird oder die durch das Regelsystem aufrechterhaltene Spurtreue verliert.In this case, the driver is often unprepared for the control interventions, so that it can not be ruled out that he is particularly frightened during steering and / or braking interventions of the control system and tries to undo these interventions by his own steering or braking. There is a risk that the vehicle will become unstable or lose track following the control system.

Demgegenüber ist es die Aufgabe der vorliegenden Erfindung, ein Verfahren der eingangs erwähnten Art derart weiter zu entwickeln, dass ein Kompromiss zwischen einer möglichst hohen Spurtreue und einer möglichst geringen Gefahr einer Korrektur der automatischen Eingriffe durch den Fahrer erreicht wird.In contrast, it is the object of the present invention to develop a method of the type mentioned in such a way that a compromise between the highest possible directional stability and the lowest possible risk of correction of automatic intervention by the driver is achieved.

Diese Aufgabe wird durch die Merkmale von Anspruch 1 gelöst.This object is solved by the features of claim 1.

Gemäß der Erfindung wird der Gradient des Bremsdruckaufbaus an den gebremsten Rädern des Fahrzeugs auf einen maximalen Wert von 8 bar/Sekunde begrenzt, wenn die Beschleunigung in Querrichtung größer als ein vorgegebener Grenzwert ist.According to the invention, the gradient of the brake pressure buildup at the braked wheels of the vehicle is limited to a maximum value of 8 bar / second when the transverse acceleration is greater than a predetermined limit.

Dies bringt den Vorteil mit sich, dass ein langsamerer Druckaufbau als üblich stattfindet, was bei Kurvenfahrt höhere Seitenführungskräfte und damit eine größere Spurtreue mit sich bringt.This has the advantage that a slower pressure build-up than usual takes place, which brings with cornering higher cornering forces and thus greater directional stability with it.

Claims (1)

Verfahren zur Erhöhung der Fahrstabilität eines Fahrzeugs oder einer Fahrzeugkombination welches durch selbsttätige, ohne Zutun eines Fahrzeugführers erfolgende Regeleingriffe in ein den Antrieb und/oder die Bremsen und/oder die Lenkung des Fahrzeugs betätigendes Regelsystem einer Fahrzeuginstabilität entgegenwirkt, dadurch gekennzeichnet, dass wenn die Beschleunigung in Querrichtung größer als ein vorgegebener Grenzwert ist, der Gradient des Bremsdruckaufbaus an den gebremsten Rädern des Fahrzeugs auf einen maximalen Wert von 8 bar/Sekunde begrenzt wird.Method for increasing the driving stability of a vehicle or a vehicle combination which counteracts a vehicle instability by automatic control intervention taking place without the intervention of a driver in a control system actuating the drive and / or the brakes and / or the steering of the vehicle, characterized in that when the acceleration in Transverse direction is greater than a predetermined limit, the gradient of the brake pressure build-up on the braked wheels of the vehicle is limited to a maximum value of 8 bar / second.
DE102005063343.9A 2005-06-24 2005-06-24 Method for increasing the driving stability of a vehicle Expired - Fee Related DE102005063343C5 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102005029716.1A DE102005029716B4 (en) 2005-06-24 2005-06-24 Method for increasing the driving stability of a vehicle

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Publications (3)

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DE102005063343A1 DE102005063343A1 (en) 2007-02-01
DE102005063343B4 true DE102005063343B4 (en) 2016-02-25
DE102005063343C5 DE102005063343C5 (en) 2019-07-11

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19628973A1 (en) * 1996-07-18 1998-01-22 Teves Gmbh Alfred Process for improving the control behavior of an anti-lock braking system
DE19916267A1 (en) * 1999-04-12 2000-10-19 Continental Teves Ag & Co Ohg Method and device for monitoring or influencing the movement of a vehicle on a path
DE69910468T2 (en) * 1998-02-26 2004-07-01 Renault S.A.S. Method and device for adjusting the braking force on the wheels of a motor vehicle

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0996558B1 (en) * 1998-04-07 2006-05-24 Robert Bosch Gmbh Method and device for stabilizing a vehicle
JP4084248B2 (en) * 2003-07-08 2008-04-30 トヨタ自動車株式会社 Vehicle behavior control device
WO2005047047A1 (en) * 2003-11-14 2005-05-26 Continental Teves Ag & Co. Ohg Method for improving a headway distance control

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19628973A1 (en) * 1996-07-18 1998-01-22 Teves Gmbh Alfred Process for improving the control behavior of an anti-lock braking system
DE69910468T2 (en) * 1998-02-26 2004-07-01 Renault S.A.S. Method and device for adjusting the braking force on the wheels of a motor vehicle
DE19916267A1 (en) * 1999-04-12 2000-10-19 Continental Teves Ag & Co Ohg Method and device for monitoring or influencing the movement of a vehicle on a path

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DE102005063343C5 (en) 2019-07-11
DE102005063343A1 (en) 2007-02-01

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OP8 Request for examination as to paragraph 44 patent law
8181 Inventor (new situation)

Inventor name: G?CKER, ULRICH, 71701 SCHWIEBERDINGEN, DE

Inventor name: HECKER, FALK, DR., 71706 MARKGRUENINGEN, DE

Inventor name: HORN, MATTHIAS, 71229 LEONBERG, DE

Inventor name: HUMMEL, STEFAN, 70191 STUTTGART, DE

Inventor name: JUNDT, OLIVER, 74354 BESIGHEIM, DE

R018 Grant decision by examination section/examining division
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R034 Decision of examining division/federal patent court maintaining patent in limited form now final
R206 Amended patent specification
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee