DE102007009834A1 - Device for stabilizing vehicle trailer combination, has torque distribution device for controlling and regulating coupling of two wheels of vehicle or trailer axle - Google Patents
Device for stabilizing vehicle trailer combination, has torque distribution device for controlling and regulating coupling of two wheels of vehicle or trailer axle Download PDFInfo
- Publication number
- DE102007009834A1 DE102007009834A1 DE200710009834 DE102007009834A DE102007009834A1 DE 102007009834 A1 DE102007009834 A1 DE 102007009834A1 DE 200710009834 DE200710009834 DE 200710009834 DE 102007009834 A DE102007009834 A DE 102007009834A DE 102007009834 A1 DE102007009834 A1 DE 102007009834A1
- Authority
- DE
- Germany
- Prior art keywords
- trailer
- vehicle
- torque distribution
- wheels
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
-
- 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
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/06—Tractor-trailer swaying
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Trailers, e.g. full trailers, caravans
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/22—Articulation angle, e.g. between tractor and trailer
Abstract
Description
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur Stabilisierung eines Kraftfahrzeug-Gespanns. Dabei kann die Stabilisierung des aus ziehendem Kraftfahrzeug und von diesem gezogenen Anhänger bestehenden Kraftfahrzeuggespanns durch stabilisierende Eingriffe an dem ziehenden Kraftfahrzeug und/oder an dem gezogenen Anhänger erfolgen.The The invention relates to an apparatus and a method for stabilization a motor vehicle team. The stabilization of the pulling motor vehicle and pulled by this trailer existing motor vehicle combination by stabilizing interventions on the towing vehicle and / or on the towed trailer respectively.
Aus
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In
der
Ferner
sind in der
Darüber
hinaus ist aus der
Der Erfindung liegt die Aufgabe zugrunde, eine alternative Vorrichtung bzw. ein alternatives Verfahren zur Stabilisierung eines Kraftfahrzeug-Gespanns anzugeben. Insbesondere soll die Vorrichtung bzw. das Verfahren derart ausgebildet sein, dass die Fahrzeug- bzw. Reisegeschwindigkeit durch die Stabilisierungsmaßnahmen möglichst nicht reduziert wird, beziehungsweise möglicht unbeeinträchtigt bleibt.Of the Invention is based on the object, an alternative device or an alternative method for stabilizing a motor vehicle combination specify. In particular, the device or the method be designed such that the vehicle or travel speed by the stabilization measures if possible not is reduced, or possible undisturbed remains.
Erfindungsgemäß wird die Aufgabe durch die Gesamtheit der Merkmale der unabhängigen Ansprüche gelöst, während in den Unteransprüchen bevorzugte Weiterbildungen der Erfindung angegeben sind.According to the invention the task by the totality of the characteristics of the independent Claims solved while in the dependent claims preferred developments of the invention are given.
Die erfindungsgemäße Vorrichtung umfasst eine Momenten-Verteilungseinrichtung zur Verteilung von Moment zwischen den beiden Rädern einer gemeinsamen Fahrzeugachse, eine Schlingerbewegungs-Erfassungseinrichtung zur Erfassung der Schlingerbewegung von Kraftfahrzeug und/oder Anhänger sowie eine Steuereinrichtung zur Steuerung und/oder Regelung (allgemein: Ansteuerung) der Momenten-Verteilungseinrichtung, derart, dass eine Verteilung von Momentenanteilen zwischen den Rädern einer gemeinsamen Fahrzeugachse erfolgt. Unter einer Momentenverteilung im Sinne der Erfindung ist die (Um-)Verteilung von Anteilen der Momente zu verstehen, die im Zeitpunkt der Verteilung an den Rädern einer gemeinsamen Fahrzeugachse vorhanden sind – dies wird dadurch erreicht, in dem sich ein Rad an dem anderen zumindest teilweise abstützt und so quasi ein Teil von dessen Moment zugeteilt bekommt. Im Sinne der Erfindung wird unter einer Kopplung (der beiden Räder einer Fahrzeugachse) insbesondere eine kraft- und/oder formschlüssige Verbindung verstanden, derart, dass eine Abstützung eines Rades an dem anderen Rad möglich ist. Alternativ ist aber auch eine materialschlüssige Verbindung mit einem Verbindungselement mit veränderbaren Eigenschaften (wie einer steuerbaren Viskokupplung) denkbar.The Device according to the invention comprises a torque distribution device for the distribution of moment between the two wheels one common vehicle axle, a rolling movement detecting means for detecting the rolling motion of motor vehicle and / or trailer and a control device for controlling and / or regulating (in general: Driving) of the torque distribution device, such that a distribution of moment shares between the wheels of a common Vehicle axle takes place. Under a moment distribution in the sense of Invention is the (re) distribution of shares of moments to understand at the time of distribution at the wheels of a common Vehicle axle are present - this is achieved by in which a wheel is at least partially supported on the other and so a part of its moment gets assigned. For the purpose of The invention is under a coupling (the two wheels a vehicle axle), in particular a non-positive and / or positive locking Understood compound, such that a support of a Rades on the other wheel is possible. Alternatively, though also a material connection with a connecting element with changeable properties (such as a controllable Visco coupling) conceivable.
Vorzugsweise ist die Momenten-Verteilungseinrichtung derart ausgebildet, dass jedem Rad (bzw. jeder Seite) der Fahrzeugachse ein steuerbares Trennkupplungsmittel (z. B. steuerbare Reibkupplung, steuerbare Viskokupplung oder dergleichen) zugeordnet ist, wobei zumindest ein, vorzugsweise beide Trennkupplungsmittel über die Steuereinrichtung in Abhängigkeit von vorbestimmten Betriebsparametern ansteuerbar ist/sind.Preferably the torque distribution device is designed such that Each wheel (or each side) of the vehicle axle, a controllable separating clutch means (For example, controllable friction clutch, controllable viscous coupling or the like) assigned is, wherein at least one, preferably both separating means via the control device in dependence on predetermined Operating parameters can be controlled / are.
Mit Vorteil ist die Momenten-Verteilungseinrichtung einer angetriebenen Fahrzeugachse (Antriebsachse) zugeordnet und umfasst somit neben den beiden Trennkupplungsmitteln (wobei jedes der beiden Trennkupplungsmittel einem Fahrzeugrad (rechtes bzw. linkes Rad einer gemeinsamen Fahrzeugachse) zugeordnet ist) ein zwischen den beiden Trennkupplungsmitteln der Antriebsachse angeordnetes, mit der Antriebswelle (Kardanwelle) verbundenes Verteilergetriebe. Die Steuereinrichtung ist dabei derart ausgebildet, dass die Ansteuerung (von jeweils zumindest einem der beiden Trennkupplungsmittel) in Abhängigkeit von zumindest einem vorbestimmten, mit einer auftretenden Schlingerbewegung des ziehenden Kraftfahrzeugs und/oder des gezogenen Anhängers korrelierenden Betriebsparameter/Betriebsgröße erfolgt. Mit Vorteil korreliert die Betriebsgröße mit der Gierrate des Anhängers und/oder der aufgrund des schlingernden Anhängers erzeugten Gierbewegung des den Anhänger ziehenden Kraftfahrzeugs. Alternativ oder zusätzlich können noch die Querbeschleunigung, der Schwimmwinkel und/oder der zwischen Anhänger und Kraftfahrzeug auftretende Knickwinkel ausgewertet werden. Die Ansteuerung der Trennkupplungsmittel erfolgt derart, dass ein im Wesentlichen zur Schlingerbewegung gegenphasiges Giermoment erzeugt wird.Advantageously, the torque distribution device of a driven vehicle axle (An transmission axis) and thus comprises, in addition to the two separating clutch means (each of which is associated with a vehicle wheel (right or left wheel of a common vehicle axle)) arranged between the two separating clutch means of the drive axle, with the drive shaft (propeller shaft) associated transfer case. The control device is designed in such a way that the activation (of at least one of the two separating coupling means) takes place as a function of at least one predetermined operating parameter / operating variable correlating with an occurring rolling movement of the towing motor vehicle and / or the towed trailer. Advantageously, the operational size correlates with the yaw rate of the trailer and / or the yawing motion of the trailer pulling vehicle due to the lurching trailer. Alternatively or additionally, the lateral acceleration, the slip angle and / or the bending angle occurring between the trailer and the motor vehicle can also be evaluated. The activation of the separating coupling means is effected in such a way that a yawing moment substantially opposite to the rolling movement is generated.
Des Weiteren umfasst die Erfindung ein Verfahren zur Stabilisierung eines Kraftfahrzeuggespanns, wobei das Kraftfahrzeuggespann mit Vorteil eine Vorrichtung umfasst, wie sie vorstehend beschrieben ist. Dabei wird durch das Erfassen einer, mit einer auftretenden Schlingerbewegung des Anhängers oder Kraftfahrzeugs korrelierenden Betriebsgröße, und das anschließende Ansteuern (steuern und/oder regeln) einer zwischen den Rädern einer gemeinsamen Fahrzeugachse angeordneten Momenten-Verteilungseinrichtung derart, dass der auftretenden Schlingerbewegung entgegengewirkt wird, eine entsprechende Stabilisierung des Kraftfahrzeuggespanns erreicht.Of Furthermore, the invention comprises a method for stabilization a motor vehicle combination, wherein the motor vehicle combination with Advantage comprises a device as described above is. It is by detecting a, with an occurring Rolling motion of the trailer or motor vehicle correlated Company size, and the subsequent Control (control and / or regulate) one between the wheels a common vehicle axle arranged torque distribution device in such a way that counteracts the occurring rolling movement is, a corresponding stabilization of the motor vehicle combination reached.
In einer bevorzugten Ausführungsform erfolgt die Ansteuerung der Momenten-Verteilungseinrichtung derart, dass eine Stabilisierungsschwingung erzeugt wird, die zu der aufgrund der Schlingerbewegung erzeugten Schwingung im Wesentlichen gegenphasig ist, insbesondere um 180° Grad phasenverschoben ist. Dabei wird die Schlingerbewegung des Anhängers mit Vorteil direkt mittels einer mit dem Anhänger gekoppelten Gierratensensorik und/oder Knickwinkelsensorik (Sensorik zur Erfassung des zwischen der Fahrzeuglängsachse des ziehenden Fahrzeugs und der Längsachse des Anhängers entstehenden Winkels) und/oder Schwimmwinkelsensorik und/oder Querbeschleunigungssensorik erfasst. Zusätzlich kann im Zeitpunkt der Ansteuerung des mindestens einen Trennkupplungsmittels oder im Anschluss daran eine gesteuerte Abbremsung des Kraftfahrzeugs eingeleitet werden.In In a preferred embodiment, the control takes place the torque distribution device such that generates a stabilization vibration which is due to the vibration generated due to the rolling motion is substantially out of phase, in particular by 180 ° degrees out of phase. This is the rolling motion of the trailer with advantage directly by means of a coupled with the trailer Yaw rate sensor and / or kink angle sensor (sensor for detection between the vehicle longitudinal axis of the towing vehicle and the longitudinal axis of the trailer arising Angle) and / or float angle sensor and / or lateral acceleration sensor detected. In addition, at the time of activation of the at least a disconnect coupling means or subsequently a controlled one Deceleration of the motor vehicle are initiated.
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 10342865 A1 [0002] - DE 10342865 A1 [0002]
- - DE 19964048 A1 [0002] - DE 19964048 A1 [0002]
- - EP 0575152 B1 [0003] - EP 0575152 B1 [0003]
- - DE 19963747 A1 [0004] - DE 19963747 A1 [0004]
- - DE 3427725 A1 [0005] - DE 3427725 A1 [0005]
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007009834.2A DE102007009834B4 (en) | 2007-02-28 | 2007-02-28 | Device and method for stabilizing a motor vehicle combination |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007009834.2A DE102007009834B4 (en) | 2007-02-28 | 2007-02-28 | Device and method for stabilizing a motor vehicle combination |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102007009834A1 true DE102007009834A1 (en) | 2008-09-04 |
DE102007009834B4 DE102007009834B4 (en) | 2019-06-13 |
Family
ID=39669984
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102007009834.2A Expired - Fee Related DE102007009834B4 (en) | 2007-02-28 | 2007-02-28 | Device and method for stabilizing a motor vehicle combination |
Country Status (1)
Country | Link |
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DE (1) | DE102007009834B4 (en) |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3783963A (en) * | 1972-02-28 | 1974-01-08 | Bendix Corp | Linkage angle steering control for powered in-tandem vehicles |
DE3427725A1 (en) | 1984-02-14 | 1985-08-22 | Volkswagenwerk Ag, 3180 Wolfsburg | Arrangement for controlling the power transmission of a four-wheel drive motor vehicle with transfer box |
EP0575152B1 (en) | 1992-06-15 | 1996-08-21 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Left/right drive torque adjusting apparatus for vehicle and left/right drive torque adjusting method for vehicle |
DE19964048A1 (en) | 1999-06-30 | 2001-01-04 | Bosch Gmbh Robert | Method and device for stabilizing a road vehicle |
DE19963747A1 (en) | 1999-12-30 | 2001-07-26 | Bosch Gmbh Robert | Stabilizing a vehicle or vehicle rig with tendency to understeer involves increasing torque exerted on drive wheels by engine while applying braking force to wheel on inside of bend |
DE10048418A1 (en) * | 2000-09-29 | 2002-04-18 | Pascal Munnix | Procedure for stabilization of vehicle has yaw moment working against vehicle oscillation movement applied with phase delay to oscillation movement and frequency that corresponds to it |
DE102004045164A1 (en) * | 2003-09-19 | 2005-04-14 | Borgwarner Inc., Auburn Hills | Control system for interactive drive and vehicle control |
DE10342865A1 (en) | 2003-09-15 | 2005-04-21 | Bayerische Motoren Werke Ag | Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out |
DE19715601B4 (en) * | 1996-05-07 | 2006-02-09 | Volkswagen Ag | Trailer for a motor vehicle |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6959970B2 (en) * | 2004-03-18 | 2005-11-01 | Ford Global Technologies, Llc | Method and apparatus for controlling a trailer and an automotive vehicle with a yaw stability control system |
-
2007
- 2007-02-28 DE DE102007009834.2A patent/DE102007009834B4/en not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3783963A (en) * | 1972-02-28 | 1974-01-08 | Bendix Corp | Linkage angle steering control for powered in-tandem vehicles |
DE3427725A1 (en) | 1984-02-14 | 1985-08-22 | Volkswagenwerk Ag, 3180 Wolfsburg | Arrangement for controlling the power transmission of a four-wheel drive motor vehicle with transfer box |
EP0575152B1 (en) | 1992-06-15 | 1996-08-21 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Left/right drive torque adjusting apparatus for vehicle and left/right drive torque adjusting method for vehicle |
DE19715601B4 (en) * | 1996-05-07 | 2006-02-09 | Volkswagen Ag | Trailer for a motor vehicle |
DE19964048A1 (en) | 1999-06-30 | 2001-01-04 | Bosch Gmbh Robert | Method and device for stabilizing a road vehicle |
DE19963747A1 (en) | 1999-12-30 | 2001-07-26 | Bosch Gmbh Robert | Stabilizing a vehicle or vehicle rig with tendency to understeer involves increasing torque exerted on drive wheels by engine while applying braking force to wheel on inside of bend |
DE10048418A1 (en) * | 2000-09-29 | 2002-04-18 | Pascal Munnix | Procedure for stabilization of vehicle has yaw moment working against vehicle oscillation movement applied with phase delay to oscillation movement and frequency that corresponds to it |
DE10342865A1 (en) | 2003-09-15 | 2005-04-21 | Bayerische Motoren Werke Ag | Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out |
DE102004045164A1 (en) * | 2003-09-19 | 2005-04-14 | Borgwarner Inc., Auburn Hills | Control system for interactive drive and vehicle control |
Also Published As
Publication number | Publication date |
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DE102007009834B4 (en) | 2019-06-13 |
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