DE102008058152A1 - Spring path determining method for wheel in e.g. commercial motor vehicle, involves detecting set of revolutions of wheel, deriving spring path from detected revolutions and filtering detected revolutions by two high-pass filters - Google Patents
Spring path determining method for wheel in e.g. commercial motor vehicle, involves detecting set of revolutions of wheel, deriving spring path from detected revolutions and filtering detected revolutions by two high-pass filters Download PDFInfo
- Publication number
- DE102008058152A1 DE102008058152A1 DE200810058152 DE102008058152A DE102008058152A1 DE 102008058152 A1 DE102008058152 A1 DE 102008058152A1 DE 200810058152 DE200810058152 DE 200810058152 DE 102008058152 A DE102008058152 A DE 102008058152A DE 102008058152 A1 DE102008058152 A1 DE 102008058152A1
- Authority
- DE
- Germany
- Prior art keywords
- wheel
- revolutions
- spring
- spring path
- detected
- 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- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/17—Proportional control, i.e. gain control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/182—Active control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1875—Other parameter or state estimation methods not involving the mathematical modelling of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/60—Signal noise suppression; Electronic filtering means
- B60G2600/602—Signal noise suppression; Electronic filtering means high pass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/92—ABS - Brake Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/93—Skid or slide control [ASR]
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Ermittlung eines Federweges eines Rades an einem Fahrzeug während einer Fahrt gemäß dem Oberbegriff des Patentanspruches 1. Des Weiteren betrifft die Erfindung eine Vorrichtung zur Ermittlung eines Federweges eines Rades an einem Fahrzeug während einer Fahrt gemäß dem Oberbegriff des Patentanspruchs 6.The The invention relates to a method for determining a spring travel of a Wheel on a vehicle during a ride in accordance with the The preamble of claim 1. Furthermore, the invention relates a device for determining a spring travel of a wheel a vehicle during a journey according to the Preamble of claim 6.
Zur Verbesserung eines Fahrkomforts von Personen- und/oder Nutzkraftwagen ist die Ausgestaltung eines Fahrwerks von wesentlicher Bedeutung. Bei dem bisher noch überwiegend benutzten passiven Fahrwerken sind die Aufhängungssysteme zwischen einem Fahrzeugaufbau und den Rädern, je nach prognostiziertem Gebrauch des Fahrzeugs, beim Einbau entweder tendenziell hart ("sportlich") oder tendenziell weich ("komfortabel") ausgelegt. Eine Einflussnahme auf eine Fahrwerkcharakteristik ist während der Fahrt bei diesen Systemen nicht möglich.to Improvement of driving comfort of passenger and / or commercial vehicles the design of a chassis is essential. In the still predominantly used passive chassis are the suspension systems between a vehicle body and the wheels, depending on the predicted use of the vehicle Installation tends to be either hard ("sporty") or tending soft ("comfortable") designed. An influence on a chassis characteristic is not possible while driving on these systems.
Bei aktiven Fahrwerken hingegen kann die Fahrwerkcharakteristik während des Fahrbetriebs abhängig von einem vorliegenden Fahrzustand im Sinne einer Steuerung oder Regelung beeinflusst werden.at active chassis, however, the chassis characteristics during the driving operation depending on a present driving condition be influenced in the sense of a control or regulation.
Zur Steuerung oder Regelung eines solchen aktiven Fahrwerks werden die Aufhängungssysteme je nach einem vorliegenden Fahrzustand des Fahrzeugs zur Aufbringung von Kräften zwischen den Rädern und dem Aufbau angesteuert. Hierzu ist es wesentlich, den momentan vorliegenden Fahrzustand des Fahrzeugs möglichst exakt zu erfassen.to Control or regulation of such an active chassis are the Suspension systems depending on a present driving condition the vehicle for applying forces between the Wheels and the structure controlled. For this it is essential the current driving condition of the vehicle possible to capture exactly.
Die möglichst genaue Kenntnis der Bewegungen eines Fahrzeuges ist von elementarer Bedeutung für jede Art von Steuerung oder Regelung, die diesen Bewegungen im Sinne einer Erhöhung des Fahrkomforts und der Fahrsicherheit entgegenwirkt.The the most accurate knowledge of the movements of a vehicle is of fundamental importance for any type of control or regulation governing these movements in order to increase the Driving comfort and driving safety counteracts.
Solch
eine Entgegenwirkung kann, wie es in der
Zur Erfassung des Fahrzustands werden im Allgemeinen für das Fahrverhalten des Fahrzeugs typische Bewegungen sensiert.to Capturing the driving condition will generally be for that Driving behavior of the vehicle senses typical movements.
Die Ursachen der Bewegungen des Fahrzeuges sind im wesentlichen Beschleunigungs- und/oder Bremsvorgänge, Lenkvorgänge und/oder Fahrbahnunebenheiten.The Causes of the movements of the vehicle are essentially acceleration and / or Braking, steering and / or bumps.
Für die Ermittlung der die Querdynamik beschreibenden Größe können als alternative Möglichkeit auch die Federwege der Räder herangezogen werden. Unter dem Begriff "Federwege" werden dabei die relativen Abstände zwischen den Rädern und dem Fahrzeugaufbau verstanden.For the determination of the size describing the lateral dynamics As an alternative option, you can also use the suspension travel the wheels are used. Under the term "suspension travel" are the relative distances between the wheels and understood the vehicle body.
Aus den Federwegen kann eine der Querbeschleunigung entsprechende Größe berechnet werden.Out The spring paths can be a size corresponding to the lateral acceleration be calculated.
Im Stand der Technik werden die Federwege mittels Federwegsensoren gemessen.in the The prior art, the spring travel by spring travel sensors measured.
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren und eine verbesserte Vorrichtung zur Ermittlung eines Einfederweges eines Rades an einem Fahrzeug während einer Fahrt anzugeben.Of the Invention is based on the object, a relation to the Prior art improved method and apparatus for determining a compression travel of a wheel on a vehicle indicate during a journey.
Die Aufgabe wird erfindungsgemäß gelöst durch ein Verfahren mit den Merkmalen des Patentanspruchs 1. Hinsichtlich der Vorrichtung wird die Aufgabe erfindungsgemäß durch die im Patentanspruch 6 angegebenen Merkmale gelöst.The The object is achieved by a method having the features of claim 1. Regarding The device according to the invention by the task solved specified in claim 6 features.
Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche.advantageous Further developments of the invention are the subject of the dependent claims.
Bei dem erfindungsgemäßen Verfahren zur Ermittlung eines Federweges eines Rades an einem Fahrzeug während einer Fahrt wird eine Drehzahl des Rades erfasst und aus zumindest der erfassten Drehzahl der Federweg abgeleitet.at the method of determination according to the invention a spring travel of a wheel on a vehicle during a ride, a speed of the wheel is detected and off at least derived from the detected speed of travel.
Dadurch kann der Federweg vorteilhafterweise ohne zusätzliche Federwegsensorik ermittelt werden. Dies führt zu einer Kostenersparnis.Thereby can the spring travel advantageously without additional suspension travel sensor be determined. This leads to a cost savings.
Der mittels des erfindungsgemäßen Verfahrens abgeleitete Federweg ist früher verfügbar als das Signal eines Federwegssensors und somit kann ein Steuergerät eines aktiven Fahrwerks schneller auf Unebenheiten auf der Fahrbahn und daraus resultierende Bewegungen eines Fahrzeugaufbaus reagieren.Of the derived by the method according to the invention Travel is available sooner than the signal one Spring travel sensors and thus can be a controller of an active Chassis faster on bumps on the road and from it resulting movements of a vehicle body respond.
In einer günstigen Ausführungsform kann eine Information über den Federweg dazu genutzt werden, um eine Qualität vorhandener Sensorsignale zu verbessern bzw. diese zu plausibilisieren.In In a favorable embodiment, information about used the suspension travel to a quality of existing To improve sensor signals or to make them plausible.
Besonders vorteilhaft ist es, die bereits im Fahrzeug vorhandenen Raddrehzahlsensoren eines Antiblockier- und/oder Antischlupfsystems (ABS und/oder ASR) zur Bestimmung der Drehzahl zu benutzen, soweit solche ABS und/oder ASR-Systeme zur Fahrzeugausstattung gehören.Especially It is advantageous to already present in the vehicle wheel speed sensors an anti-lock and / or anti-slip system (ABS and / or ASR) to use for determining the speed, as far as such ABS and / or ASR vehicle equipment systems.
Ein Ausführungsbeispiel der Erfindung wird anhand einer Zeichnung näher erläutert.An embodiment of the invention will explained in more detail with reference to a drawing.
Dabei
zeigt die einzige
Die
Vorrichtung umfasst einen Drehzahlsensor
In
der Auswerteeinheit
Die
Auswerteeinheit
Der
Drehzahlsensor
Im Betrieb des Fahrzeuges führt eine Fahrbahnanregung zu einem Federn des Rades, dies hat eine Änderung eines Abstandes zwischen einem Fahrzeugaufbau und dem Rad zur Folge. Diese Änderung des Abstandes ist der Federweg – der relative Federweg. Gleichzeitig mit dem Federn des Rades wird auch eine Eindrückung am Reifen stattfinden, welche zu einer Änderung des Rollradius des Rades führt und sich somit in einer Änderung der Raddrehzahlen auswirkt.in the Operation of the vehicle leads a roadway excitation to a Feathers of the wheel, this has a change of a distance between a vehicle body and the wheel result. This change the distance is the spring travel - the relative travel. Simultaneously with the springs of the wheel is also a depression take place on the tire, which leads to a change in the rolling radius of the wheel leads and thus in a change the wheel speeds.
Beim
erfindungsgemäßen Verfahren wird in der Auswerteeinheit
- δFederweg
- = Federweg
- k
- = Faktor
- THP1
- = Zeitkonstante des Hochpassfilters 1
- s
- = Komplexe Frequenzvariable
- THP2
- = Zeitkonstante des Hochpassfilters 2
- ω
- = Drehzahl des Rades.
- δ travel
- = Travel
- k
- = Factor
- T HP1
- = Time constant of the high-pass filter 1
- s
- = Complex frequency variable
- T HP2
- = Time constant of the high-pass filter 2
- ω
- = Speed of the wheel.
Die Drehzahl ωRAD des Rades wird mittels zweier Hochpassfilter gefiltert und mit dem Faktor k multipliziert.The speed ω RAD of the wheel is filtered by means of two high-pass filters and multiplied by the factor k.
Der
erste Hochpassfilter entfernt konstante Anteile aus dem Signal des
Drehzahlsensors
Die
Zeitkonstanten der Hochpassfilter THP1 und
THP2 werden in Versuchen aus Messdaten bestimmt
und sind in der Auswerteeinheit
Die Größe des Faktors k wird in Abhängigkeit von einer an einem Fahrwerk eingestellten Dämpfung vorgegeben und kann bei einem aktiven Fahrwerk variieren.The Size of the factor k will depend on specified on a chassis damping set and may vary with an active chassis.
Das
Steuergerät eines aktiven Fahrwerks
Es wird beispielsweise anhand des ermittelten Federwegs δFederweg eine Radlaständerung bestimmt. Hierdurch kann eine Kurvenfahrt detektiert werden.For example, a wheel load change is determined on the basis of the ascertained spring travel δ spring travel . As a result, a cornering can be detected.
- 11
- DrehzahlsensorSpeed sensor
- 22
- Auswerteeinheitevaluation
- 33
- Steuergerät eines aktiven Fahrwerkscontrol unit an active chassis
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 3529178 [0006] - DE 3529178 [0006]
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200810058152 DE102008058152A1 (en) | 2008-11-20 | 2008-11-20 | Spring path determining method for wheel in e.g. commercial motor vehicle, involves detecting set of revolutions of wheel, deriving spring path from detected revolutions and filtering detected revolutions by two high-pass filters |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200810058152 DE102008058152A1 (en) | 2008-11-20 | 2008-11-20 | Spring path determining method for wheel in e.g. commercial motor vehicle, involves detecting set of revolutions of wheel, deriving spring path from detected revolutions and filtering detected revolutions by two high-pass filters |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102008058152A1 true DE102008058152A1 (en) | 2009-07-02 |
Family
ID=40690946
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200810058152 Withdrawn DE102008058152A1 (en) | 2008-11-20 | 2008-11-20 | Spring path determining method for wheel in e.g. commercial motor vehicle, involves detecting set of revolutions of wheel, deriving spring path from detected revolutions and filtering detected revolutions by two high-pass filters |
Country Status (1)
Country | Link |
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DE (1) | DE102008058152A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015011517B3 (en) * | 2015-09-03 | 2016-09-08 | Audi Ag | Method for determining a current level position of a vehicle |
US9828031B2 (en) | 2014-03-22 | 2017-11-28 | Audi Ag | Motor vehicle and rear-end module therefor |
DE102018217992A1 (en) * | 2018-10-22 | 2020-04-23 | Zf Friedrichshafen Ag | Method for operating an actuator of an active chassis device and active chassis device |
CN111923914A (en) * | 2019-05-13 | 2020-11-13 | 大众汽车有限公司 | Identification of the shoulder driving of a motor vehicle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3529178A1 (en) | 1984-08-14 | 1986-02-27 | Honda Giken Kogyo K.K., Tokio/Tokyo | CONTROL DEVICE FOR A WHEEL SUSPENSION |
-
2008
- 2008-11-20 DE DE200810058152 patent/DE102008058152A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3529178A1 (en) | 1984-08-14 | 1986-02-27 | Honda Giken Kogyo K.K., Tokio/Tokyo | CONTROL DEVICE FOR A WHEEL SUSPENSION |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9828031B2 (en) | 2014-03-22 | 2017-11-28 | Audi Ag | Motor vehicle and rear-end module therefor |
DE102015011517B3 (en) * | 2015-09-03 | 2016-09-08 | Audi Ag | Method for determining a current level position of a vehicle |
CN106494172A (en) * | 2015-09-03 | 2017-03-15 | 奥迪股份公司 | Method for determining the current horizontal location of vehicle |
US10239379B2 (en) | 2015-09-03 | 2019-03-26 | Audi Ag | Method for determining an actual level of a vehicle |
CN106494172B (en) * | 2015-09-03 | 2019-09-13 | 奥迪股份公司 | Method for determining the current horizontal location of vehicle |
DE102018217992A1 (en) * | 2018-10-22 | 2020-04-23 | Zf Friedrichshafen Ag | Method for operating an actuator of an active chassis device and active chassis device |
CN111923914A (en) * | 2019-05-13 | 2020-11-13 | 大众汽车有限公司 | Identification of the shoulder driving of a motor vehicle |
EP3738851A1 (en) * | 2019-05-13 | 2020-11-18 | Volkswagen Ag | Detection of a motor vehicle driving onto the hard shoulder |
CN111923914B (en) * | 2019-05-13 | 2023-12-01 | 大众汽车有限公司 | Identification of road shoulder travel of motor vehicle |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OAV | Applicant agreed to the publication of the unexamined application as to paragraph 31 lit. 2 z1 | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20140603 |