DE102006036680A1 - Motor vehicle transverse stabilization method for use during track changing process, involves modifying interferences in anti-driving phase of track changing process in such a manner that interferences are continued at wheels of vehicle - Google Patents
Motor vehicle transverse stabilization method for use during track changing process, involves modifying interferences in anti-driving phase of track changing process in such a manner that interferences are continued at wheels of vehicle Download PDFInfo
- Publication number
- DE102006036680A1 DE102006036680A1 DE102006036680A DE102006036680A DE102006036680A1 DE 102006036680 A1 DE102006036680 A1 DE 102006036680A1 DE 102006036680 A DE102006036680 A DE 102006036680A DE 102006036680 A DE102006036680 A DE 102006036680A DE 102006036680 A1 DE102006036680 A1 DE 102006036680A1
- Authority
- DE
- Germany
- Prior art keywords
- motor vehicle
- interferences
- lane change
- stabilizing
- changing process
- 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.)
- Ceased
Links
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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren und eine Vorrichtung zur Querstabilisierung eines Kraftfahrzeugs bei einem Spurwechselvorgang.The The invention relates to a method and a device for Anti-roll stabilization of a motor vehicle during a lane change process.
Aus
der
Nachteilig ist, dass die eigentliche Durchführung der querstabilisierenden Bremseingriffe – sofern erforderlich – erst dann erfolgt, wenn sich das Kraftfahrzeug bereits in der querdynamisch kritischen Gegenlenkphase befindet. Das Kraft fahrzeug lässt sich in diesem Fall unter Umständen nicht mehr sicher stabilisieren.adversely is that the actual implementation the transverse stabilizing brake interventions - if necessary - only then takes place when the motor vehicle is already in the lateral dynamic critical counter-steering phase is located. The motor vehicle can be in this case may be no longer stabilize safely.
Es ist daher Aufgabe der vorliegenden Erfindung, ein Verfahren bzw. eine Vorrichtung der eingangs genannten Art derart weiterzubilden, dass dieses bzw. diese für den Fall eines Spurwechselvorgangs eine verlässliche Querstabilisierung des Kraftfahrzeugs sicherstellt.It is therefore an object of the present invention, a method or a device of the type mentioned in such a way, that this or this for the case of a lane change process a reliable lateral stabilization of the motor vehicle.
Erfindungsgemäß wird diese Aufgabe gelöst, indem bereits in der Anlenkphase des Spurwechselvorgangs querstabilisierende Bremseingriffe am kurvenäußeren Vorderrad des Kraftfahrzeugs erfolgen. Die querstabilisierenden Bremseingriffe werden in der nachfolgenden Gegenlenklenkphase derart modifiziert, dass diese sowohl am kurvenäußeren wie auch gleichzeitig bzw. synchron am kurveninneren Vorderrad fortgeführt werden. Auf diese Weise lässt sich die beim Übergang von der Anlenkphase zur Gegenlenkphase auftretende Querbeschleunigungsänderung merklich verringern, sodass selbst Kraftfahrzeuge mit hohem Schwerpunkt über den gesamten Verlauf des Spurwechselvorgangs einen kippstabilen Zustand beibehalten.According to the invention this Task solved by Already stabilizing in the articulation phase of the lane change process Brake intervention on the outside front wheel of the motor vehicle. The cross-stabilizing brake interventions are modified in the following counterbending phase so that these are both on the outside as well as on the outside be continued simultaneously or synchronously on the inside front wheel. That way you can the transition transverse acceleration change occurring from the articulation phase to the counter-steering phase noticeably lower so that even high-center-of- entire course of the lane change process a tilt-stable state maintained.
Vorteilhafte Ausführungen des erfindungsgemäßen Verfahrens gehen aus den Unteransprüchen hervor.advantageous versions the method according to the invention are apparent from the dependent claims.
Um einem möglichen Kippen des Kraftfahrzeugs zuverlässig vorzubeugen, ist es von Vorteil, wenn die querstabilisierenden Bremseingriffe solange fortgeführt werden, bis eine die Querbeschleunigung des Kraftfahrzeugs wiedergebende Querbeschleunigungsgröße einen auf ein stabiles Fahrverhalten des Kraftfahrzeugs hinweisenden Wert erreicht. Dies ist beispielsweise dann der Fall, wenn die mittels eines im Kraftfahrzeug angeordneten Querbeschleunigungssensors erfasste Querbeschleunigungsgröße betraglich kleiner ist als ein in geeigneter Weise vorgegebener Schwellenwert, der einen kippstabilen Fahrzustand des Kraftfahrzeugs repräsentiert.Around a possible Tilting of the motor vehicle reliable to prevent, it is advantageous if the cross-stabilizing braking interventions as long as continued until one of the lateral acceleration of the motor vehicle reproduces Lateral acceleration size one value indicative of a stable driving behavior of the motor vehicle reached. This is the case, for example, when the means a arranged in the motor vehicle lateral acceleration sensor detected Transverse acceleration amount is less than a suitably predetermined threshold, representing a tilt-stable driving condition of the motor vehicle.
Zur zuverlässigen Erkennung eines Spurwechselvorgangs sowie zur eindeutigen Unterscheidung von Anlenkphase und Gegenlenkphase besteht die Möglichkeit, das zeitliche Verhalten einer Gierratengröße, die eine um die Hochachse des Kraftfahrzeugs auftretende Gierrate wiedergibt, auszuwerten. Die Bereitstellung der Gierratengröße erfolgt insbesondere mittels eines Gierratensensors, dessen Messachse in Hochrichtung des Kraftfahrzeugs orientiert ist.to reliable Detection of a lane change process as well as for clear distinction of articulation phase and Gegenlenkphase there is the possibility of temporal behavior a yaw rate size that represents a yaw rate occurring about the vertical axis of the motor vehicle, evaluate. The provision of the yaw rate is carried out in particular by means of a yaw rate sensor whose measuring axis in the vertical direction of the motor vehicle is oriented.
Zusätzlich oder alternativ ist es auch denkbar, eine Lenkwinkelgröße, die einen an den lenkbaren Vorderrädern des Kraftfahrzeugs eingestellten Lenkwinkel wiedergibt, und/oder deren zeitliche Änderung auszuwerten. Die Lenkwinkelgröße wird hierbei durch Verwendung eines den lenkbaren Vorderrädern des Kraftfahrzeugs zugeordneten Lenkwinkelsensors ermittelt.Additionally or Alternatively, it is also conceivable, a steering angle, the one on the steerable front wheels of the motor vehicle adjusted steering angle, and / or their temporal change evaluate. The steering angle size is this by using a steerable front wheels of the Motor vehicle associated steering angle sensor determined.
Bei griffigen Fahrbahnverhältnissen führen die an den Rädern des Kraftfahrzeugs zur Verfügung stehenden Seitenführungskräfte dazu, dass während des Spurwechselvorgangs vergleichsweise hohe Querbeschleunigungen am Aufbau des Kraftfahrzeugs auftreten können. Die Kippgefahr ist unter derartigen Umständen am größten. Es ist daher von Vorteil, wenn die querstabilisierenden Bremseingriffe dann durchgeführt werden, wenn sich ergibt, dass der Spurwechselvorgang auf einer Fahrbahnoberfläche mit hohem Reibwert erfolgt. Ob dies der Fall ist, lässt sich unschwer durch Vergleich der Gierratengröße mit der zeitlichen Änderung der Lenkwinkelgröße erkennen, wobei der Korrespondenzgrad der beiden Größen während des Spurwechselvorgangs einen unmittelbaren Rückschluss auf den aktuellen Reibwert der befahrenen Fahrbahn erlaubt. So weist ein geringer Korrespondenzgrad auf Fahrbahnverhältnisse mit geringer Griffigkeit, mithin also auf einen niedrigen Reibwert hin.at handy road conditions lead the at the wheels of the motor vehicle available Lateral leadership to that during the Spurwechselvorgangs comparatively high lateral accelerations on Structure of the motor vehicle can occur. The danger of tipping is under such circumstances the biggest. It is therefore advantageous if the cross-stabilizing braking interventions then carried out If it turns out that the lane change process on a road surface takes place with a high coefficient of friction. Whether this is the case, can be not difficult by comparing the yaw rate with the time change recognize the steering angle, wherein the correspondence degree of the two sizes during the lane change operation immediate inference allowed on the current coefficient of friction of the traffic lane. So instruct one low degree of correspondence on road conditions with low grip, thus, therefore, to a low coefficient of friction.
Die querstabilisierenden Bremseingriffe werden vorzugsweise von einer im Kraftfahrzeug befindlichen Fahrdynamikregelung, insbesondere einem Elektronischen Stabilitäts-Programm (ESP), koordiniert, wozu das erfindungsgemäße Verfahren softwaremä ßig in eine zugehörige Steuereinheit implementiert ist. Derartige Fahrdynamikregelungen sind in vielen Kraftfahrzeugen ohnehin vorhanden, sodass sich das erfindungsgemäße Verfahren in einem solchen Fall ohne wesentlichen Mehraufwand verwirklichen lässt.The Querstabilisierenden brake interventions are preferably by a in the motor vehicle vehicle dynamics control, in particular an electronic stability program (ESP), coordinated, for which the method according to the invention softwaremä larly in a associated Control unit is implemented. Such driving dynamics regulations are present in many motor vehicles anyway, so that the inventive method in such a case without significant extra effort leaves.
Die Verwendung des erfindungsgemäßen Verfahrens bzw. der erfindungsgemäßen Vorrichtung bietet sich vor allem bei Kraftfahrzeugen mit konstruktionsbedingt hohem Schwerpunkt an. Hierzu gehören typischerweise Transporter, Geländewagen, Busse und Lastkraftwagen.The Use of the method according to the invention or the device according to the invention offers especially in motor vehicles with design-related high Focus on. These include typically vans, SUVs, buses and trucks.
Das erfindungsgemäße Verfahren bzw. die erfindungsgemäße Vorrichtung wird im folgenden anhand der beigefügten Zeichnungen näher erläutert. Dabei zeigen:The inventive method or the device according to the invention will be explained in more detail below with reference to the accompanying drawings. there demonstrate:
Die
in einem herkömmlichen
vierrädrigen Kraftfahrzeug
Die
Steuereinheit
Die
Steuereinheit
Erkennt
die Steuereinheit
In
der anschließenden
Gegenlenkphase
Die
querstabilisierenden Bremseingriffe werden von der Steuereinheit
Der
Schwellenwert ay,ref liegt hierbei typischerweise
in der Größenordnung
von 0,5 bis 2,5 m/s2 und wird abhängig von
der Höhe
des Schwerpunkts des Kraftfahrzeugs
Ist
die durch Gleichung (1.1) gegebene Bedingung erfüllt, so wird der Bremsdruck
pa bzw. pb in der
Radbremseinrichtung
Gemäß einer
optionalen Weiterbildung des erfindungsgemäßen Verfahrens werden die querstabilisierenden
Bremseingriffe dann durchgeführt, wenn
die Steuereinheit
An
dieser Stelle sei angemerkt, dass die Darstellung eines vierrädrigen Kraftfahrzeugs
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006036680A DE102006036680A1 (en) | 2005-08-16 | 2006-08-05 | Motor vehicle transverse stabilization method for use during track changing process, involves modifying interferences in anti-driving phase of track changing process in such a manner that interferences are continued at wheels of vehicle |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005038957 | 2005-08-16 | ||
DE102005038957.0 | 2005-08-16 | ||
DE102006027734 | 2006-06-16 | ||
DE102006027734.1 | 2006-06-16 | ||
DE102006036680A DE102006036680A1 (en) | 2005-08-16 | 2006-08-05 | Motor vehicle transverse stabilization method for use during track changing process, involves modifying interferences in anti-driving phase of track changing process in such a manner that interferences are continued at wheels of vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102006036680A1 true DE102006036680A1 (en) | 2007-12-20 |
Family
ID=38690364
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102006036680A Ceased DE102006036680A1 (en) | 2005-08-16 | 2006-08-05 | Motor vehicle transverse stabilization method for use during track changing process, involves modifying interferences in anti-driving phase of track changing process in such a manner that interferences are continued at wheels of vehicle |
Country Status (1)
Country | Link |
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DE (1) | DE102006036680A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021128765A1 (en) | 2021-11-04 | 2023-05-04 | Zf Active Safety Gmbh | Method for operating a brake system of a motor vehicle |
DE102021128764A1 (en) | 2021-11-04 | 2023-05-04 | Zf Active Safety Gmbh | Method for operating a brake system of a motor vehicle |
-
2006
- 2006-08-05 DE DE102006036680A patent/DE102006036680A1/en not_active Ceased
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021128765A1 (en) | 2021-11-04 | 2023-05-04 | Zf Active Safety Gmbh | Method for operating a brake system of a motor vehicle |
DE102021128764A1 (en) | 2021-11-04 | 2023-05-04 | Zf Active Safety Gmbh | Method for operating a brake system of a motor vehicle |
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Legal Events
Date | Code | Title | Description |
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8127 | New person/name/address of the applicant |
Owner name: DAIMLER AG, 70327 STUTTGART, DE |
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R081 | Change of applicant/patentee |
Owner name: REMPLER, JOHANN, DIPL. - ING. ( FH ), DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE Effective date: 20120717 |
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R012 | Request for examination validly filed |
Effective date: 20130423 |
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R084 | Declaration of willingness to licence |
Effective date: 20140612 |
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R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final |