DE102006010097B4 - Method for operating a motor vehicle - Google Patents
Method for operating a motor vehicle Download PDFInfo
- Publication number
- DE102006010097B4 DE102006010097B4 DE102006010097.2A DE102006010097A DE102006010097B4 DE 102006010097 B4 DE102006010097 B4 DE 102006010097B4 DE 102006010097 A DE102006010097 A DE 102006010097A DE 102006010097 B4 DE102006010097 B4 DE 102006010097B4
- Authority
- DE
- Germany
- Prior art keywords
- wheel
- vehicle
- signal
- speed sensor
- motor vehicle
- 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
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/416—Wheel speed sensor failure
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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
- 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
- B60W40/105—Speed
Abstract
Verfahren zum Betreiben eines Kraftfahrzeugs (10), bei dem eine Fahrzeuggeschwindigkeit (vfzg) unter Berücksichtigung des Signals (S20, S22) mindestens eines ersten Radgeschwindigkeitssensors (20, 22) eines ersten Fahrzeugrads (16, 18) gewonnen wird, wobei wenigstens zeitweise ein Ersatzsignal (ev22, ev20) für das Signal (S22, S20) mindestens eines zweiten Radgeschwindigkeitssensors (20, 22) eines zweiten Fahrzeugrads (18, 16) aus dem Signal des ersten Radgeschwindigkeitssensors (20, 22) unter Berücksichtigung der Spurweite (s) zwischen dem zweiten Fahrzeugrad (16, 18) und dem ersten Fahrzeugrad (18, 16) einer Achse gebildet wird (48, 36).A method of operating a motor vehicle (10), wherein a vehicle speed (vfzg) is obtained taking into account the signal (S20, S22) of at least one first wheel speed sensor (20, 22) of a first vehicle wheel (16, 18), at least temporarily substituting a signal (ev22, ev20) for the signal (S22, S20) of at least one second wheel speed sensor (20, 22) of a second vehicle wheel (18, 16) from the signal of the first wheel speed sensor (20, 22) taking into account the track width (s) between the second vehicle wheel (16, 18) and the first vehicle wheel (18, 16) of an axle is formed (48, 36).
Description
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftfahrzeugs nach dem Oberbegriff des Anspruchs 1. Gegenstand der Erfindung sind ferner ein elektrisches Speichermedium sowie eine Steuer- und/oder Regeleinrichtung.The invention relates to a method for operating a motor vehicle according to the preamble of claim 1. The invention also relates to an electrical storage medium and a control and / or regulating device.
Vom Markt her bekannt sind Kraftfahrzeuge, bei denen beispielsweise an der nicht angetriebenen Achse die Drehgeschwindigkeiten des linken und des rechten Rades erfasst, unter Kenntnis der Raddurchmesser entsprechende Fahrzeuggeschwindigkeiten ermittelt, und die Fahrzeuggeschwindigkeit schließlich als arithmetischer Mittelwert der beiden ermittelten Geschwindigkeiten bestimmt wird. Ferner sind Kraftfahrzeuge bekannt, bei denen überhaupt nur ein Radgeschwindigkeitssensor an einem Fahrzeugrad vorhanden ist.Known from the market are motor vehicles in which detects the rotational speeds of the left and right wheel, for example, on the non-driven axle, determined knowing the wheel diameter corresponding vehicle speeds, and the vehicle speed is finally determined as the arithmetic mean of the two determined speeds. Furthermore, motor vehicles are known in which at all only one wheel speed sensor is present on a vehicle wheel.
Aus der
Aus der
Aus der
Die
Aufgabe der vorliegenden Erfindung ist es, ein Verfahren bereit zu stellen, welches einen noch sichereren Betrieb des Kraftfahrzeugs ermöglicht, bei gleichzeitig niedrigen Kosten.The object of the present invention is to provide a method which enables even safer operation of the motor vehicle, at the same time as low costs.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Anspruchs 1 gelöst. Weitere Lösungen finden sich in den nebengeordneten Patentansprüchen. Vorteilhafte Weiterbildungen der Erfindung sind in Unteransprüchen angegeben.This object is achieved by a method having the features of claim 1. Further solutions can be found in the independent patent claims. Advantageous developments of the invention are specified in subclaims.
Vorteile der ErfindungAdvantages of the invention
Dank des erfindungsgemäßen Verfahrens ist es möglich, mit nur einem Radgeschwindigkeitssensor an einem Fahrzeugrad ein entsprechendes Signal für einen Radgeschwindigkeitssensor an einem anderen Fahrzeugrad zu bestimmen beziehungsweise zu simulieren. Dies reduziert die Kosten bei gleichzeitig großem Anwendungsbereich.Thanks to the method according to the invention, it is possible to determine or simulate a corresponding signal for one wheel speed sensor on another vehicle wheel with only one wheel speed sensor on one vehicle wheel. This reduces costs while offering a wide range of applications.
Besonders vorteilhaft ist das erfindungsgemäße Verfahren, wenn an jedem Fahrzeugrad einer Achse jeweils ein Radgeschwindigkeitssensor verbaut ist. In diesem Fall wird das Ersatzsignal vorzugsweise dann gebildet, wenn erkannt wird, dass der zweite Radgeschwindigkeitssensor an dem zweiten Fahrzeugrad defekt ist. Da üblicherweise dann, wenn zwei Radgeschwindigkeitssensoren verbaut sind, die Fahrzeuggeschwindigkeit als arithmetischer Mittelwert auf der Basis der beiden Signale der beiden Radgeschwindigkeitssensoren gewonnen wird, kann dieses Verfahren beibehalten werden, bei gleichzeitiger hoher Präzision der Geschwindigkeitsbestimmung.The method according to the invention is particularly advantageous when a wheel speed sensor is installed on each vehicle wheel of an axle. In this case, the substitute signal is preferably formed when it is detected that the second wheel speed sensor on the second vehicle wheel is defective. Since usually, when two wheel speed sensors are installed, the vehicle speed is obtained as the arithmetic mean on the basis of the two signals of the two wheel speed sensors, this method can be maintained while high precision of the speed determination.
Ein wesentlicher Parameter für die Definition der Relativposition des zweiten Fahrzeugrads zum ersten Fahrzeugrad ist die Spurweite. Wird diese berücksichtigt, entspricht der Ersatzwert bereits in vielen Fahrsituationen sehr genau einem tatsächlichen Wert.An essential parameter for the definition of the relative position of the second vehicle wheel to the first vehicle wheel is the gauge. If this is taken into account, the substitute value already corresponds very accurately to an actual value in many driving situations.
Besonders bevorzugt ist es jedoch, wenn zusätzlich das Ersatzsignal unter Berücksichtigung einer das dynamische Verhalten des Kraftfahrzeugs charakterisierenden Größe, insbesondere einer eine Kurvenfahrt charakterisierenden Größe gebildet wird. Damit ist das Ersatzsignal in nahezu allen Betriebssituationen des Kraftfahrzeugs sehr genau.However, it is particularly preferred if, in addition, the substitute signal is formed in consideration of a variable characterizing the dynamic behavior of the motor vehicle, in particular of a variable characterizing a curve. Thus, the replacement signal in almost all operating situations of the motor vehicle is very accurate.
Als wesentliche, eine Kurvenfahrt charakterisierende Größen wurde ein Gierrate, ein Lenkwinkel, eine Radialbeschleunigung des Kraftfahrzeugs (Zentripetal- oder Zentrifugalbeschleunigung oder -kraft) und/oder eine Größe, die einer Drehzahldifferenz zwischen den Rädern einer anderen Achse entspricht, identifiziert. Je mehr dieser Größen berücksichtigt werden, desto größer ist die Genauigkeit des Ersatzwertes.As essential parameters characterizing a curve, a yaw rate, a steering angle, a radial acceleration of the motor vehicle (centripetal or centrifugal acceleration or force) and / or a variable corresponding to a rotational speed difference between the wheels of another axle were identified. The more of these sizes are considered, the greater the accuracy of the replacement value.
Zeichnungendrawings
Nachfolgend wird ein besonders bevorzugtes Ausführungsbeispiel der vorliegenden Erfindung unter Bezugnahme auf die beiliegende Zeichnung näher erläutert. In der Zeichnung zeigen:Hereinafter, a particularly preferred embodiment of the present invention will be explained in more detail with reference to the accompanying drawings. In the drawing show:
Beschreibung des AusführungsbeispielsDescription of the embodiment
Ein Kraftfahrzeug trägt in
Die beiden Radgeschwindigkeitssensoren
In
In
Ist die Antwort im Block
In
Ist auch die Abfrage in
Es versteht sich, dass die Gierrate dφ/dt ein unterschiedliches Vorzeichen aufweist, je nach dem, ob das Kraftfahrzeug
Somit kann auch bei einem defekten Radgeschwindigkeitssensor
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006010097.2A DE102006010097B4 (en) | 2006-03-06 | 2006-03-06 | Method for operating a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006010097.2A DE102006010097B4 (en) | 2006-03-06 | 2006-03-06 | Method for operating a motor vehicle |
Publications (2)
Publication Number | Publication Date |
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DE102006010097A1 DE102006010097A1 (en) | 2007-09-13 |
DE102006010097B4 true DE102006010097B4 (en) | 2016-10-06 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102006010097.2A Expired - Fee Related DE102006010097B4 (en) | 2006-03-06 | 2006-03-06 | Method for operating a motor vehicle |
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DE (1) | DE102006010097B4 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10472054B2 (en) * | 2017-02-21 | 2019-11-12 | Goodrich Corporation | Antiskid operation during degraded operation |
CN114734975B (en) * | 2022-04-28 | 2023-05-09 | 清智汽车科技(苏州)有限公司 | Method and device for identifying wiring of coaxial wheel speed sensor |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5343396A (en) * | 1992-04-29 | 1994-08-30 | Youngblood Richard J | Sensor malfunction detection |
DE19958075A1 (en) * | 1998-12-15 | 2000-06-21 | Luk Getriebe Systeme Gmbh | Operating motor vehicle with at least 1 drive unit esp. IC engine from which drive torque is producible and at least 1 wheel driven by drive axle also torque transmission including gear box |
DE19931343A1 (en) * | 1999-02-27 | 2000-08-31 | Continental Teves Ag & Co Ohg | Detecting a wheel sensor error involves detecting an error depending on whether wheel acceleration derived from sensor output signal is below a negative acceleration threshold value |
DE10061502A1 (en) * | 1999-12-08 | 2001-06-13 | Bosch Gmbh Robert | Determining method for speed value of driven wheel of vehicle involves determining speed value of one driven wheel depending on speed values of remaining driven wheels and drive rotation speed of transmission |
-
2006
- 2006-03-06 DE DE102006010097.2A patent/DE102006010097B4/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5343396A (en) * | 1992-04-29 | 1994-08-30 | Youngblood Richard J | Sensor malfunction detection |
DE19958075A1 (en) * | 1998-12-15 | 2000-06-21 | Luk Getriebe Systeme Gmbh | Operating motor vehicle with at least 1 drive unit esp. IC engine from which drive torque is producible and at least 1 wheel driven by drive axle also torque transmission including gear box |
DE19931343A1 (en) * | 1999-02-27 | 2000-08-31 | Continental Teves Ag & Co Ohg | Detecting a wheel sensor error involves detecting an error depending on whether wheel acceleration derived from sensor output signal is below a negative acceleration threshold value |
DE10061502A1 (en) * | 1999-12-08 | 2001-06-13 | Bosch Gmbh Robert | Determining method for speed value of driven wheel of vehicle involves determining speed value of one driven wheel depending on speed values of remaining driven wheels and drive rotation speed of transmission |
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Publication number | Publication date |
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DE102006010097A1 (en) | 2007-09-13 |
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