DE102014202230A1 - Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs - Google Patents

Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs Download PDF

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Publication number
DE102014202230A1
DE102014202230A1 DE102014202230.4A DE102014202230A DE102014202230A1 DE 102014202230 A1 DE102014202230 A1 DE 102014202230A1 DE 102014202230 A DE102014202230 A DE 102014202230A DE 102014202230 A1 DE102014202230 A1 DE 102014202230A1
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DE
Germany
Prior art keywords
vehicle
steering angle
wheel
tipping
steering
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Withdrawn
Application number
DE102014202230.4A
Other languages
German (de)
English (en)
Inventor
Boris Buchtala
Christian Schmidt
Ralf Becker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102014202230.4A priority Critical patent/DE102014202230A1/de
Priority to IN315DE2015 priority patent/IN2015DE00315A/en
Priority to CN201510062806.8A priority patent/CN104828082A/zh
Priority to KR1020150018412A priority patent/KR20150093615A/ko
Publication of DE102014202230A1 publication Critical patent/DE102014202230A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • 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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • 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
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/121—Fork lift trucks, Clarks
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE102014202230.4A 2014-02-07 2014-02-07 Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs Withdrawn DE102014202230A1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE102014202230.4A DE102014202230A1 (de) 2014-02-07 2014-02-07 Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs
IN315DE2015 IN2015DE00315A (zh) 2014-02-07 2015-02-03
CN201510062806.8A CN104828082A (zh) 2014-02-07 2015-02-06 用于防止可转向的机动车倾翻的方法和设备
KR1020150018412A KR20150093615A (ko) 2014-02-07 2015-02-06 조향 가능한 차량의 경사 방지 방법 및 장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014202230.4A DE102014202230A1 (de) 2014-02-07 2014-02-07 Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs

Publications (1)

Publication Number Publication Date
DE102014202230A1 true DE102014202230A1 (de) 2015-08-13

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ID=53676771

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102014202230.4A Withdrawn DE102014202230A1 (de) 2014-02-07 2014-02-07 Verfahren und Vorrichtung zum Verhindern eines Kippens eines lenkbaren Fahrzeugs

Country Status (4)

Country Link
KR (1) KR20150093615A (zh)
CN (1) CN104828082A (zh)
DE (1) DE102014202230A1 (zh)
IN (1) IN2015DE00315A (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015118472A1 (de) * 2015-10-29 2017-05-04 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Lastteil und einem Antriebsteil
DE102016123104A1 (de) * 2016-11-30 2018-05-30 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Bremssteuerung
DE102018213552A1 (de) * 2018-03-21 2019-09-26 Bayerische Motoren Werke Aktiengesellschaft Betriebsverfahren, Vorrichtung, sowie korrespondierendes Computerprodukt zum Betreiben eines Fahrzeugs
EP3932762A4 (en) * 2019-03-18 2022-05-04 Great Wall Motor Company Limited AUTONOMOUS VEHICLE SECURITY MONITORING METHOD AND SYSTEM AND MOTION CONTROL SYSTEM
US11472476B2 (en) 2017-11-06 2022-10-18 Isuzu Motors Limited Steering control device, steering control method, and recording medium
US11485370B2 (en) * 2018-06-22 2022-11-01 Thyssenkrupp Presta Ag Method for determining a corrected wheel radius on the basis of the measured yaw rate
DE102021207263A1 (de) 2021-07-09 2023-01-12 Volkswagen Aktiengesellschaft Verfahren und Steuervorrichtung zum Vermeiden eines Kippens eines Kraftfahrzeugs mit Steer-by-Wire Lenkung und Kraftfahrzeug
DE102021121163A1 (de) 2021-08-13 2023-02-16 Danfoss Power Solutions Gmbh & Co. Ohg Verbesserter Teleskoplader

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3041343A1 (en) * 2017-01-13 2018-07-19 Crown Equipment Corporation High speed straight ahead tiller desensitization
CN109693664A (zh) * 2017-10-23 2019-04-30 王飞 一种防止汽车侧翻系统及控制策略
CN109625082B (zh) * 2018-12-14 2020-07-28 山河机场设备股份有限公司 一种用于集装货物装载机的转向控制装置及方法
US11654956B2 (en) * 2019-12-23 2023-05-23 Robert Bosch Gmbh Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control
DE102020003044A1 (de) * 2020-05-20 2021-11-25 Bomag Gmbh Baumaschine und verfahren zur erhöhung der standsicherheit einer baumaschine

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0814051B1 (de) 1996-06-18 2001-12-05 Still Wagner GmbH & Co. KG Verfahren zum Betreiben eines Flurförderzeugs und Flurförderzeug zur Durchführung des Verfahrens

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JP4069921B2 (ja) * 2004-10-25 2008-04-02 三菱自動車工業株式会社 車両の旋回挙動制御装置
JP4297150B2 (ja) * 2005-10-13 2009-07-15 トヨタ自動車株式会社 Ｏｓまたはｕｓを段階的に異なる手段で抑制する車輌
US7788007B2 (en) * 2006-01-12 2010-08-31 Gm Global Technology Operations, Inc. Roll stability indicator for vehicle rollover control
CN100591559C (zh) * 2007-11-29 2010-02-24 三一重工股份有限公司 一种液压底盘工程机械转向控制系统
CN101830225B (zh) * 2010-05-13 2012-09-19 吉林大学 工程车辆主动防倾翻控制系统和方法
CN102529959B (zh) * 2010-12-31 2015-03-25 财团法人车辆研究测试中心 车辆翻覆预防安全系统及其方法
CN103121447B (zh) * 2013-03-19 2015-10-28 大连理工大学 一种弯道防侧滑侧翻自动控制系统及方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0814051B1 (de) 1996-06-18 2001-12-05 Still Wagner GmbH & Co. KG Verfahren zum Betreiben eines Flurförderzeugs und Flurförderzeug zur Durchführung des Verfahrens

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015118472A1 (de) * 2015-10-29 2017-05-04 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Lastteil und einem Antriebsteil
DE102016123104A1 (de) * 2016-11-30 2018-05-30 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Bremssteuerung
US11472476B2 (en) 2017-11-06 2022-10-18 Isuzu Motors Limited Steering control device, steering control method, and recording medium
DE112018005265B4 (de) 2017-11-06 2024-03-28 Isuzu Motors Limited Lenksteuerungsvorrichtung, lenksteuerungsverfahren und aufzeichnungsmedium
DE102018213552A1 (de) * 2018-03-21 2019-09-26 Bayerische Motoren Werke Aktiengesellschaft Betriebsverfahren, Vorrichtung, sowie korrespondierendes Computerprodukt zum Betreiben eines Fahrzeugs
US11485370B2 (en) * 2018-06-22 2022-11-01 Thyssenkrupp Presta Ag Method for determining a corrected wheel radius on the basis of the measured yaw rate
EP3932762A4 (en) * 2019-03-18 2022-05-04 Great Wall Motor Company Limited AUTONOMOUS VEHICLE SECURITY MONITORING METHOD AND SYSTEM AND MOTION CONTROL SYSTEM
DE102021207263A1 (de) 2021-07-09 2023-01-12 Volkswagen Aktiengesellschaft Verfahren und Steuervorrichtung zum Vermeiden eines Kippens eines Kraftfahrzeugs mit Steer-by-Wire Lenkung und Kraftfahrzeug
EP4155148A1 (de) 2021-07-09 2023-03-29 Volkswagen Ag Verfahren und steuervorrichtung zum vermeiden eines kippens eines kraftfahrzeugs mit steer-by-wire lenkung und kraftfahrzeug
DE102021121163A1 (de) 2021-08-13 2023-02-16 Danfoss Power Solutions Gmbh & Co. Ohg Verbesserter Teleskoplader

Also Published As

Publication number Publication date
CN104828082A (zh) 2015-08-12
IN2015DE00315A (zh) 2015-08-14
KR20150093615A (ko) 2015-08-18

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R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee