DE10360404A1 - Vehicle`s rolling motion damping method, involves influencing steering angle of front wheels at front axis of vehicle based on rolling speed and/or rolling acceleration of vehicle - Google Patents
Vehicle`s rolling motion damping method, involves influencing steering angle of front wheels at front axis of vehicle based on rolling speed and/or rolling acceleration of vehicle Download PDFInfo
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- DE10360404A1 DE10360404A1 DE2003160404 DE10360404A DE10360404A1 DE 10360404 A1 DE10360404 A1 DE 10360404A1 DE 2003160404 DE2003160404 DE 2003160404 DE 10360404 A DE10360404 A DE 10360404A DE 10360404 A1 DE10360404 A1 DE 10360404A1
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- 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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- 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
- 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
- B60G17/0195—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 regulation being combined with other vehicle control systems
-
- 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
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- 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
- 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
- B62D6/003—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 in order to control vehicle yaw movement, i.e. around a vertical axis
-
- 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
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
-
- 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
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
-
- 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
- B60G2400/05—Attitude
- B60G2400/053—Angular acceleration
- B60G2400/0531—Roll acceleration
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- 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
- B60G2800/012—Rolling condition
-
- 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
- B60G2800/24—Steering, cornering
-
- 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
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- 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
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- 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
- B60T2230/03—Overturn, rollover
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Dämpfung von Wankbewegungen eines Fahrzeugs um seine Längsachse.The The invention relates to a method for damping rolling movements of a Vehicle about its longitudinal axis.
Es ist bekannt durch aktive Lenkeingriffe eine Giergeschwindigkeitsregelung zu realisieren, um den fahrdynamischen Zustand des Fahrzeugs zu stabilisieren.It is known by active steering interventions a yaw rate control to realize the driving dynamic condition of the vehicle too stabilize.
Ausgehend hiervon soll auch eine Dämpfung der Wankbewegung erreicht werden.outgoing This should also be a damping the rolling motion can be achieved.
Diese
Aufgabe wird durch das Verfahren gemäß Patentanspruch 1 gelöst. Der
Lenkwinkel (δ)
an den lenkbaren Rädern,
insbesondere den Vorderrädern
des Fahrzeugs wird Fahrer unabhängig
in Abhängigkeit von
einer die Wankbewegung des Fahrzeugs um seine Längsachse beschreibenden Wankgröße beeinflusst. Als
Wankgröße kommen
die Wankgeschwindigkeit und/oder die Wankbeschleunigung in Betracht,
wobei insbesondere folgende Beziehung verwendet werden kann: mit
A:
Term zur Bestimmung des Lenkwinkels in Abhängigkeit von der Giergeschwindigkeit,
K1, K2: Vorgebbare
FaktorenThis object is achieved by the method according to claim 1. The steering angle (δ) on the steerable wheels, in particular the front wheels of the vehicle, is independently influenced by the driver as a function of a roll size describing the rolling motion of the vehicle about its longitudinal axis. The roll rate and / or roll acceleration may be considered as roll size, whereby the following relationship may be used in particular: With
A: term for determining the steering angle as a function of the yaw rate,
K 1 , K 2 : Predeterminable factors
Der
Term A ergibt sich beispielsweise zu mit
lv:
Abstand des Fahrzeugschwerpunktes von der Vorderachse
αv:
Schräglaufwinkel
an der Vorderachse
β:
Schwimmwinkel des Fahrzeugs
vx: Fahrzeug-LängsgeschwindigkeitThe term A results, for example, too With
l v : distance of the center of gravity of the vehicle from the front axle
α v : slip angle at the front axle
β: float angle of the vehicle
v x : vehicle longitudinal speed
Durch die Berücksichtigung der Wankgeschwindigkeit und/oder der Wankbeschleunigung bei der Regelung der Giergeschwindigkeit kann die Wankdämpfung und/oder die Wankfrequenz verbessert werden. Die Wankgeschwindigkeit und die Wankbeschleunigung können gemessen oder geschätzt (z. B. Kalman-Filter) werden.By the consideration the roll speed and / or the roll acceleration in the Control of the yaw rate can be the roll damping and / or the roll frequency be improved. The roll speed and roll acceleration can measured or estimated (eg Kalman filters).
Als
Modell für
die Wankdynamik gilt folgende Gleichung: mit
D:
Dämpfung
K:
hSp: Höhe
des Schwerpunkts
m: Fahrzeugmasse
Ixx:
Trägheitsmoment
um die Fahrzeuglängsachse
xThe model for the roll dynamics is the following equation: With
D: damping
K:
h Sp : height of the center of gravity
m: vehicle mass
I xx : Moment of inertia around the vehicle's longitudinal axis x
Dabei gilt für die natürliche Frequenz und für das DämpfungsmaßIt applies to the natural frequency and for the attenuation measure
In Gleichung (2) kann m ay durch die Summe der Seitenkraft (Sv) auf die Vorderräder und der Seitenkraft (SH) auf die Hinterräder ersetzt werden: wobei zur Vereinfachung ohne Einlaufverhalten der Seitenkräfte und im linearen Bereich gilt:In equation (2) ma y can be replaced by the sum of the side force (S v ) on the front wheels and the side force (S H ) on the rear wheels: wherein for simplification without running-in behavior of the lateral forces and in the linear range:
Die Seitenkraft auf die Vorderräder ist proportional zum Lenkwinkel an der Vorderachse.The Side force on the front wheels is proportional to the steering angle at the front axle.
Aus (6) und (5) erhält man:Out (6) and (5) you:
Mit δV = δV,Regler – K1Φ . ergibt sich aus Gleichung (7)With δ V = δ V, controller - K 1 Φ. is given by equation (7)
Aus Gleichung (8) ist zu erkennen, dass mit dem Faktor K1 die Dämpfung variiert bzw. vergrößert werden kann.From equation (8) it can be seen that with the factor K 1 the damping can be varied or increased.
Wegen des Einlaufverhaltens der Seitenkräfte sV und sH wird auch die Wankbeschleunigung gedämpft und nicht nur die Wankgeschwindigkeit:Because of the running-in behavior of the lateral forces s V and s H , the rolling acceleration is also dampened and not only the rolling speed:
K1 und K2 sind frei wählbar. Durch das Einstellen dieser beiden Faktoren K1 und K2 kann der Fahrkomfort beeinflusst werden. Die Einstellung kann abhängig vom Fahrzeugtyp beispielsweise empirische ermittelt werden.K 1 and K 2 are freely selectable. By adjusting these two factors K 1 and K 2 , the ride comfort can be influenced. The setting can be determined, for example, empirically depending on the type of vehicle.
Um auf einen Sensor zur Messung des Wankwinkels, der Wankgeschwindigkeit oder der Wankbeschleunigung verzichten zu können, kann anhand der folgenden Methode die Wankgeschwindigkeit und der Wankwinkel geschätzt werden.Around on a sensor for measuring the roll angle, the roll speed or to be able to dispense with the roll acceleration, can be determined by the following Method the roll speed and the roll angle are estimated.
Gemäß der Fig. wird die Gleichung (2) in einem Steuergerät des Fahrzeugs simuliert, wobei die gemessene Querbeschleunigung ay des Fahrzeugschwerpunktes als Eingangsgröße verwendet wird und nach einer Multiplikation mit einem Fahrzeug abhängigen Faktoreinem ersten Eingang eines Knotens zugeführt wird. Der Ausgangswert des Knotens wird durch zwei in Reihe geschaltete Integratoren zwei mal integriert, wobei man durch die erste Integration den Schätzwert für die Wankgeschwindigkeit und nach der zweiten Integration den Schätzwert Φ ^ für den Wankwinkel erhält. Die geschätzte Wankgeschwindigkeit wird mit einem Faktormultipliziert und mit negativem Vorzeichen einem zweiten Eingang des Knotens zugeführt. Der geschätzte Wankwinkel wird mit einem Faktormultipliziert und mit negativem Vorzeichen einem dritten Eingang des Knotens zugeführt.According to the FIGURE, the equation (2) is simulated in a control unit of the vehicle, wherein the measured lateral acceleration a y of the vehicle's center of gravity is used as an input variable and after a multiplication by a vehicle dependent factor a first input of a node is supplied. The output value of the node is integrated twice by two integrators connected in series, whereby the first integration yields the estimated value for the roll speed and after the second integration receives the estimated value Φ ^ for the roll angle. The estimated roll speed is a factor multiplied and supplied with a negative sign to a second input of the node. The estimated roll angle is one factor multiplied and supplied with a negative sign to a third input of the node.
Zusätzlich oder alternativ zu der Beeinflussung des Lenkwinkels kann das Wankverhalten des Fahrzeugs auch über Einzelradbremseingriffe beeinflusst werden. Werden sowohl Brems- als auch Lenkeingriffe durchgeführt, so ist die Stärke und Dauer des Lenkeingriffs auf die Stärke und Dauer des Bremseingriffs abzustimmen bzw. umgekehrt.Additionally or as an alternative to influencing the steering angle, the roll behavior the vehicle also over Einzelradbremseingriffe be influenced. If both braking as well as steering interventions performed, that's the strength and duration of the steering intervention on the strength and duration of the braking intervention to vote or vice versa.
Als unabhängiger Gedanke besteht bei einer Vierradlenkung die Möglichkeit, bei der Regelung der Querdynamik eines Fahrzeugs den Schwimmwinkel und die Giergeschwindigkeit voneinander zu entkoppeln:When independent Thought is in a four-wheel steering the possibility in the scheme the transverse dynamics of a vehicle, the slip angle and the yaw rate to decouple from each other:
1. Möglichkeit1st possibility
Wenn man den Hinterachs-Schwimmwinkel und den Vorderachs-Schwimmwinkel regelt, kann der Fahrzeug-Schwimmwinkel gemessen oder geschätzt werden. Wenn die Querbeschleunigung und die Gierbeschleunigung gemessen wird, kann die Regelgleichung für den Hinterachs-Schwimmwinkel und den Vorderachs-Schwimmwinkel unabhängig vom Fahrzeug-Schwimmwinkel aufgestellt werden.If you control the rear axle float angle and the front axle float angle, The vehicle slip angle can be measured or estimated. When the lateral acceleration and the yaw acceleration are measured can, the rule equation for the rear axle float angle and the front axle float angle independent of Vehicle float angle be set up.
2. Möglichkeit 2nd possibility
Vereinfacht man Gleichung (9) durch die Vernachlässigung des Einlaufverhaltens der Seitenkräfte und unter der Annahme einer konstanten Längsgeschwindigkeit vx dann ergibt sich nach zeitlicher Ableitung von Gleichung (9):If one simplifies equation (9) by neglecting the running-in behavior of the lateral forces and assuming a constant longitudinal velocity v x, then according to the time derivative of equation (9):
Somit sind alle Größen (ψ ., ay, vx) messbar. Anstatt βH,soll und βV,soll können β .H,soll und β .V,soll geregelt werden. jeweils mit K1, K2: Frei wählbarer VerstärkungsfaktorThus all sizes (ψ., a y , v x ) measurable. Instead of β H, soll and β V, β. H, shall and β. V, should be regulated. each with K 1 , K 2 : Freely selectable gain factor
3. Möglichkeit3rd possibility
Anstatt die Giergeschwindigkeit und den Fahrzeug-Schwimmwinkel zu entkoppeln, werden bei der Querdynamikregelung die Giergeschwindigkeit und die Schwimmwinkelgeschwindigkeit entkoppelt. Dadurch kann man auf eine Messung des Schwimmwinkels verzichten.Instead of to decouple the yaw rate and the vehicle slip angle in the transverse dynamics control, the yaw rate and the float angle velocity decoupled. This allows one to measure the slip angle without.
Leitet man Gleichung (15) zeitlich ab erhält man:forwards one obtains equation (15):
Diese Gleichung (16) bestimmt die Schwimmwinkelgeschwindigkeitsregelung an der Hinterachse des Fahrzeugs. Als Sollwert wird die Soll-Schwimmwinkelgeschwindigkeit für die Hinterachse berechnet:These Equation (16) determines the buoyancy control at the rear axle of the vehicle. The setpoint value is the desired float velocity for the Rear axle calculated:
Die Regelgröße ergibt sich zuThe Controlled variable results to
Zusätzlich kann an der Vorderachse des Fahrzeugs eine Giergeschwindigkeitsregelung erfolgen. Auf diese Weise entkoppelt man die Giergeschwindigkeitsregelung (Vorderachse) von der Schwimmwinkelgeschwindigkeitsregelung (Hinterachse). Der Vorteil besteht dabei darin, dass die Schwimmwinkelgeschwindigkeit im Gegensatz zum Schwimmwinkel messbar ist.In addition, can yaw rate control on the front axle of the vehicle respectively. In this way, the yaw rate control is decoupled (Front axle) of the float angle control (rear axle). The advantage is that the float angle velocity in contrast to the float angle is measurable.
4. Möglichkeit4th possibility
Anstatt einer Regelung ist bei dieser Möglichkeit eine Steuerung vorgesehen. Dabei sind genaue Kenntnisse von Fahrzeugparametern, wie z. B. Reifenkennlinien von Vorteil. Gibt man die Soll-Giergeschwindigkeit, den Soll-Fahrzeug-Schwimmwinkel und deren jeweilige zeitliche Ableitungen vor, kann der Solllenkwinkel an der Vorder- und Hinterachse bestimmt werden.Instead of a regulation is at this possibility a controller provided. Thereby are exact knowledge of vehicle parameters, such as B. tire characteristics of advantage. Do you give the target yaw rate, the target vehicle slip angle and their respective time derivatives before, the target steering angle be determined on the front and rear axles.
Es
gilt:
Draus werden die Sollwerte für die Seitenkräfte bzw. die Lenkwinkel an Vorder- und Hinterachse bestimmt. Man ersetzt in den Gleichungen (19) bis (21) die Giergeschwindigkeit, die Gierbeschleunigung, den Schwimmwinkel, die Seitenkraft an der Vorderachse und die Seitenkraft an der Hinterachse durch die jeweiligen Sollwerte. Mit αy = νx(ψ .Soll – β .Soll) ergibt sich:The target values for the lateral forces or the steering angles at the front and rear axles are determined on this. In equations (19) to (21), the yaw rate, the yaw acceleration, the slip angle, the lateral force on the front axle, and the side force on the rear axle are replaced by the respective target values. With α ν x y = (. Ψ target - β target.) Yields:
Dabei
gilt für
die Schräglaufwinkel
an der Vorder- und Hinterachse:
Daraus ergeben sich die Solllenkwinkel an Vorder- und Hinterachse zu:from that the target steering angles at the front and rear axle result to:
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003160404 DE10360404A1 (en) | 2003-12-19 | 2003-12-19 | Vehicle`s rolling motion damping method, involves influencing steering angle of front wheels at front axis of vehicle based on rolling speed and/or rolling acceleration of vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003160404 DE10360404A1 (en) | 2003-12-19 | 2003-12-19 | Vehicle`s rolling motion damping method, involves influencing steering angle of front wheels at front axis of vehicle based on rolling speed and/or rolling acceleration of vehicle |
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Publication Number | Publication Date |
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DE10360404A1 true DE10360404A1 (en) | 2005-07-14 |
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ID=34673012
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DE2003160404 Withdrawn DE10360404A1 (en) | 2003-12-19 | 2003-12-19 | Vehicle`s rolling motion damping method, involves influencing steering angle of front wheels at front axis of vehicle based on rolling speed and/or rolling acceleration of vehicle |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007073772A1 (en) * | 2005-12-29 | 2007-07-05 | Renault Trucks | Method and system to prevent vehicle overturning, estimator and controller for the system |
DE102007061911B4 (en) * | 2007-01-10 | 2010-10-28 | Fuji Jukogyo Kabushiki Kaisha | Device for controlling the behavior of a vehicle body |
WO2013083208A3 (en) * | 2011-12-09 | 2014-12-24 | Wabco Gmbh | Drive stabilisation method, drive stabilisation device and related vehicle |
-
2003
- 2003-12-19 DE DE2003160404 patent/DE10360404A1/en not_active Withdrawn
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007073772A1 (en) * | 2005-12-29 | 2007-07-05 | Renault Trucks | Method and system to prevent vehicle overturning, estimator and controller for the system |
DE102007061911B4 (en) * | 2007-01-10 | 2010-10-28 | Fuji Jukogyo Kabushiki Kaisha | Device for controlling the behavior of a vehicle body |
WO2013083208A3 (en) * | 2011-12-09 | 2014-12-24 | Wabco Gmbh | Drive stabilisation method, drive stabilisation device and related vehicle |
US9187121B2 (en) | 2011-12-09 | 2015-11-17 | Wabco Gmbh | Vehicle stabilization device and method |
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