DE10360666A1 - Device for coordinated control of at least a motor vehicle drive and braking system changes characteristics according to dynamic conditions and drivers intentions - Google Patents
Device for coordinated control of at least a motor vehicle drive and braking system changes characteristics according to dynamic conditions and drivers intentions Download PDFInfo
- Publication number
- DE10360666A1 DE10360666A1 DE10360666A DE10360666A DE10360666A1 DE 10360666 A1 DE10360666 A1 DE 10360666A1 DE 10360666 A DE10360666 A DE 10360666A DE 10360666 A DE10360666 A DE 10360666A DE 10360666 A1 DE10360666 A1 DE 10360666A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- steering
- driver
- wheel
- movement
- 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
- 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
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
-
- 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
- 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
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
-
- 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
- B60W50/08—Interaction between the driver and the control system
-
- 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
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
- F02D41/2409—Addressing techniques specially adapted therefor
- F02D41/2422—Selective use of one or more tables
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D43/00—Conjoint electrical control of two or more functions, e.g. ignition, fuel-air mixture, recirculation, supercharging or exhaust-gas treatment
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/02—Driver type; Driving style; Driver adaptive features
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1422—Variable gain or coefficients
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
- F02D2200/602—Pedal position
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
- F02D2200/604—Engine control mode selected by driver, e.g. to manually start particle filter regeneration or to select driving style
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
- F02D41/2425—Particular ways of programming the data
- F02D41/2429—Methods of calibrating or learning
- F02D41/2451—Methods of calibrating or learning characterised by what is learned or calibrated
Abstract
Description
Stand der TechnikState of technology
Die Erfindung betrifft eine Vorrichtung zur koordinierten Steuerung wenigstens des Antriebs- und des Bremssystems eines Kraftfahrzeugs.The The invention relates to a device for coordinated control at least the drive and the braking system of a motor vehicle.
Aus
der
Aus
der
Vorteile der ErfindungAdvantages of invention
Die Erfindung geht aus von einer Vorrichtung zur koordinierten Steuerung wenigstens des Antriebs- und des Bremssystems eines Kraftfahrzeugs mit Koordinationsmitteln. Der Kern der Er findung besteht darin, dass durch die Koordinationsmittel die Charakteristik der Antriebs- und Bremssteuerung abhängig von
- – dem dynamischen Zustand des Kraftfahrzeugs,
- – einem vom Fahrer gewünschten Fahrmanöver,
- – dem Fahrertyp und/oder
- – dem Status von vom Fahrer betätigbaren Bedienelemente
- The dynamic state of the motor vehicle,
- A driver's desired maneuver,
- - the driver type and / or
- The status of driver-operable controls
Durch die Erfindung wird eine koordinierte Anpassung der Regelcharakteristiken der o.g. Systeme erzielt. Hierdurch wird ein spürbar fahraktiveres Handling bei höherer Fahrsicherheit und besseren Grundkomfort als dies mit konventionellen fest abgestimmten Systemen möglich ist erreicht. Das Fahrzeugverhalten passt sich adaptiv unterschiedlichen Fahrsituationen und Fahrertypen an, das subjektiv für den Fahrer erlebbare Fahrzeugempfinden kann in weiten Bereichen veränderbar gestaltet werden.By the invention will be a coordinated adaptation of the control characteristics the o.g. Systems achieved. This results in a noticeably more active handling at higher Driving safety and better basic comfort than with conventional firmly tuned systems possible is reached. The vehicle behavior adapts adaptively to different driving situations and driver types, subjectively experienced by the driver vehicle feel can be changed in many areas be designed.
In einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass die Koordinationsmittel über das Antriebs- und das Bremssystem hinaus auch die Charakteristik des Lenksystems und/oder des Fahrwerksteuerungssystems des Kraftfahrzeugs steuern.In an advantageous embodiment of the invention is provided that the coordination means over the drive and brake system also the characteristic control the steering system and / or the chassis control system of the motor vehicle.
Weiterhin kann vorgesehen sein, dass das Antriebs-, Brems-, Lenk- und/oder Fahrwerksteuerungssystem derart ausgestaltet ist, dass abhängig von Eingangssignalen durch ein veränderbar ausgelegtes Übertragungsverhalten Ausgangssignale zur Ansteuerung von Aktuatoren gebildet werden, wobei durch eine Änderung des Übertragungsverhaltens die Charakteristika der Systeme verändert wird.Farther can be provided that the drive, braking, steering and / or Chassis control system is designed such that depends on Input signals by a changeable designed transmission behavior Output signals are formed to drive actuators, being changed by a change the transmission behavior the Characteristics of the systems changed becomes.
Hierbei kann vorgesehen sein, dass
- – das Eingangssignal für die Motorsteuerung wenigstens eine die Stellung des Fahrpedals repräsentierende Fahrpedalgröße und/oder
- – das Eingangssignal für die Bremssteuerung wenigstens eine das Raddrehverhalten repräsentierende Raddrehgröße und/oder eine die Fahrzeuglängs- und/oder Fahrzeugquerbewegung repräsentierende Fahrzeugbewegungsgröße und/oder
- – das Eingangssignal für die Dämpfersteuerung wenigstens eine die vertikale Bewegung einer Radeinheit repräsentierende Radgröße und/oder eine die Fahrzeuglängs- und/oder Fahrzeugquerbewegung repräsentierende Fahrzeugbewegungsgröße und/oder
- – das Eingangssignal für die Lenkungssteuerung wenigstens eine die Bewegung des Lenkrades repräsentierende Lenkradgröße und/oder eine die Fahrzeuglängs- und/oder Fahrzeugquerbewegung repräsentierende Fahrzeugbewegungsgröße
- - The input signal for the engine control at least one of the position of the accelerator pedal representing accelerator pedal size and / or
- The input signal for the brake control at least one wheel rotational speed representing the wheel rotational behavior and / or a vehicle movement variable representing the vehicle longitudinal and / or transverse vehicle movement and / or
- The input signal for the damper control at least one wheel size representing the vertical movement of a wheel unit and / or a vehicle movement variable representing the vehicle longitudinal and / or vehicle lateral movement and / or
- The input signal for the steering control at least one steering wheel size representing the movement of the steering wheel and / or a vehicle movement variable representing the vehicle longitudinal and / or transverse vehicle movement
In einer besonders vorteilhaften Ausgestaltung der Erfindung wird das Übertragungsverhalten durch von den Koordinationsmitteln wählbare Regelparameter geändert.In a particularly advantageous embodiment of the invention, the transmission behavior selectable by the coordinating means Control parameters changed.
Dabei können als Charakteristika der Systeme
- – das Ansprechverhalten des Antriebssystems auf die Stellung und/oder Bewegung eines vom Fahrer betätigbaren Fahrpedals,
- – das Ansprechverhalten des Bremssystems
- – auf die Stellung eines vom Fahrer betätigbaren Bremspedals und/oder
- – auf eine erkannte Instabilität des Fahrzeugs,
- – das Ansprechverhalten des Lenksystems
- – auf die Stellung und/oder Bewegung eines vom Fahrer betätigbaren Lenkrades und/oder
- – auf eine erkannte Instabilität des Fahrzeugs, und/oder
- – das Ansprechverhalten des Fahrwerkregelungssystems
- The response of the drive system to the position and / or movement of a driver-actuatable accelerator pedal,
- - the response of the braking system
- - To the position of a driver operable brake pedal and / or
- - to a detected instability of the vehicle,
- - the response of the steering system
- - On the position and / or movement of a driver operable steering wheel and / or
- - On a detected instability of the vehicle, and / or
- - the response of the chassis control system
Weiterhin kann vorgesehen sein, dass zur Änderung der Regelparameter
- – Schwellenwerte für die Radbeschleunigung, Radverzögerung, den Radschlupf und/oder der Gierrate des Fahrzeugs geändert werden, und/oder
- – zwischen wenigstens zwei unterschiedlichen Fahrpedalcharakteristika, mittels der den Stellungen des vom Fahrer des Fahrzeugs betätigten Fahrpedals ein gewünschtes Antriebssollmoment zugeordnet wird, gewählt wird, und/oder
- – zwischen wenigstens zwei unterschiedlichen Lenkcharakteristika, mittels der den Stellungen des vom Fahrer des Fahrzeugs betätigten Lenkrades eine gewünschte Servokraftunterstützung zugeordnet wird, gewählt wird, und/oder
- – eine vorgegebene Servokraftverstärkung der durch den Fahrer durch Lenkradbewegung induzierte Lenkbewegungen, insbesondere innerhalb vorgebbarer Grenzen, kontinuierlich oder diskret geändert wird, und/oder
- – zwischen wenigstens zwei unterschiedlichen, insbesondere kontinuierlich oder in Stufen umschaltbaren, Dämpfungscharakteristika, mittels der den gemessenen vertikalen Radbewegungen und/oder den gemessenen Fahrzeugaufbaubewegungen einzustellende Dämpferkraft werte zugeordnet werden, gewählt wird.
- - Threshold values for the wheel acceleration, wheel deceleration, wheel slip and / or yaw rate of the vehicle are changed, and / or
- Between at least two different accelerator pedal characteristics, by means of which a desired desired drive torque is assigned to the positions of the accelerator pedal actuated by the driver of the vehicle, and / or
- - Between at least two different steering characteristics, by means of which the positions of the operated by the driver of the vehicle steering wheel a desired servo power assistance is assigned, is selected, and / or
- A preset servo-force amplification of the steering movements induced by the driver by steering wheel movement, in particular within predefinable limits, is changed continuously or discretely, and / or
- - Between at least two different, in particular continuously or in stages switchable, damping characteristics, by means of the measured vertical wheel movements and / or the measured vehicle body movements to be set damper force values are assigned, is selected.
Weitere vorteilhafte Ausgestaltungen sind den Unteransprüchen zu entnehmen.Further advantageous embodiments are given in the dependent claims.
Zeichnungendrawings
Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert.embodiments The invention are illustrated in the drawing and in the following description explained in more detail.
Es zeigen:It demonstrate:
Die
Beschreibung der Ausführungsbeispieledescription the embodiments
Anhand der folgenden Ausführungsformen wird die Erfindung beispielhaft beschrieben. Im nachfolgenden Ausführungsbeispiel wird ein Konzeptvorschlag für das System für eine koordinierte Chassis-Steuerung vorgestellt.Based of the following embodiments the invention described by way of example. In the following embodiment becomes a concept proposal for the system for presented a coordinated chassis control.
Das System bezeichnet einen koordinierten Systemverbund von
- – Motorsteuerung und
- – Bremssteuerungssystem sowie optional
- – elektrische Servolenkung bzw. eine Lenksystem, das aktiv, also fahrerunabhängig, Lenkbewegungen ausführen kann., und
- – eine elektronische Dämpferverstellung.
- - Engine control and
- - Brake control system and optional
- - Electric power steering or a steering system, the active, so driver independent, can perform steering movements., And
- - an electronic damper adjustment.
Das Ziel der koordinierte Chassis-Steuerung ist eine koordinierte Anpassung der Regelcharakteristiken der o.g. Systeme zur Erzielung eines spürbar fahraktiveren Handlings bei höherer Fahrsicherheit und besseren Grundkomfort als dies mit konventionellen fest abgestimmten Systemen möglich ist. Das Fahrzeugverhalten passt sich adaptiv unterschiedlichen Fahrsituationen und Fahrertypen an; das subjektiv für den Fahrer erlebbare Fahrzeugempfinden kann in weiten Bereichen veränderbar gestaltet werden. Zusätzliche Eingriffe über Bedienelemente sind vorgesehen.The The goal of coordinated chassis control is a coordinated adaptation the control characteristics of the o.g. Systems for achieving a noticeably more active driving Handling at higher Driving safety and better basic comfort than with conventional firmly tuned systems possible is. The vehicle behavior adapts adaptively different Driving situations and driver types; Subjectively for the driver Experienced vehicle feel can be changed in many areas be designed. additional Interventions via Controls are provided.
Zum Systemkonzept:To the system concept:
In Abhängigkeit vom dynamischen Zustand des Fahrzeugs, dem vom Fahrer gewünschten Fahrmanöver, dem Fahrertyp sowie optionalen Bedienelementen werden die Charakteristika (Regelparameter) zur Definition des Ansprechverhaltens von Fahrpedal, Lenkung, Dämpfung sowie ABS (Antiblockiersystem) TCS (Antriebsschlupfregelsystem) und ESP (Fahrdynamikregelsystem) selbsttätig und adaptiv verändert. Zur Erzielung einer hohen Systemdynamik werden Abtastzeiten in der Größenordnung 10 bis 20 ms angestrebt.In dependence from the dynamic state of the vehicle, as desired by the driver Maneuvers the driver type as well as optional controls become the characteristics (Control parameter) for defining the response of accelerator pedal, Steering, damping as well as ABS (anti-lock braking system) TCS (traction control system) and ESP (vehicle dynamics control system) automatically and adaptively changed. to Achieving high system dynamics will be sampling times of the order of magnitude 10 to 20 ms.
Zum Systemumfang:To the system scope:
Wie
in der
Die
Kommunikation zwischen den Teilsystemen
Anforderungen an die Motorsteuerung
Im
Motorsteuergerät
Hierzu
sind als zusätzliche
Eingangsgrößen a für die Motorsteuerung
Außerdem sind
als zusätzliche
Ausgangsgrößen a' der Motorsteuerung
- – Fahrpedalwinkel
- – Motordrehzahl,
- – indiziertes Motordrehmoment,
- – Rückmeldung über gestellte Eingangsgrößen a sowie
- – Fehlerparameter.
- - accelerator pedal angle
- - engine speed,
- - indicated engine torque,
- - Feedback on asked inputs a and
- - error parameter.
Die Fahrpedalcharakteristiken sind für das jeweilige Fahrzeug applizierbar ausgestaltet.The Accelerator pedal characteristics are for designed the respective vehicle applicable.
Anforderungen an das Lenksystem
– Variante A:- Option A:
Im
Steuergerät
des Lenksystems
Als
zusätzliche
Eingangsgrößen b für das Lenksystem
Als
(zusätzliche)
Ausgangsgrößen b' der Lenkung
- – Lenkradwinkel (sofern nicht von ESP zur Verfügung gestellt),
- – Servomoment (bspw. Strom des elektrischen Servomotors),
- – Rückmeldung über die gestellte Eingangsgrößen b sowie
- – Fehlerparameter.
- - steering wheel angle (unless provided by ESP),
- Servo torque (eg current of the electric servomotor),
- - Feedback on the input variables b and
- - error parameter.
Die Lenkcharakteristika sind für das jeweilige Fahrzeug applizierbar ausgestaltet.The Steering characteristics are for designed the respective vehicle applicable.
– Variante B- Variant B
Im
Steuergerät
Als
zusätzliche
Eingangsgrößen b für die Lenkung
Als
(zusätzliche)
Ausgangsgrößen b' der Lenkung
- – Lenkradwinkel (sofern nicht von ESP zur Verfügung gestellt),
- – Servomoment (bspw. Strom des elektrischen Servomotors),
- – Rückmeldung über die gestellte Eingangsgrößen b sowie
- – Fehlerparameter.
- - steering wheel angle (unless provided by ESP),
- Servo torque (eg current of the electric servomotor),
- - Feedback on the input variables b and
- - error parameter.
Da
die Lenkcharakteristika (Servokraftverstärkung über Lenkradwinkel) in diesem
Fall im Koordinationsrechner
Anforderungen an das Dämpferverstellung
Im
Steuergerät
Als zusätzliche Eingangsgrößen c für die elektrische Dämpferverstellung sind (vorzugsweise über CAN) die Auswahlparameter für die jeweilige Dämpfungs- bzw. Regelungscharakteristik vorzusehen.When additional Input variables c for the electrical damper adjustment are (preferably over CAN) the selection parameters for the respective damping or control characteristic.
Als
(zusätzliche)
Ausgangsgrößen c' der el. Dämpfungsverstellung
- – Rückmeldung über die gestellten Eingangsgrößen c
- – Fehlerparameter;
- – optional, soweit vorhanden, Einfederwege Einfedergeschwindigkeiten der vier Räder, Vertikalbeschleunigungen des Fahrzeugaufbaus und/oder der Räder.
- - Feedback on the input parameters c
- - error parameter;
- - optional, if available, compression travel compression speeds of the four wheels, vertical accelerations of the vehicle body and / or the wheels.
Die Dämpfungs- bzw. Regelungscharakteristika müssen für das jeweilige Fahrzeug applizierbar sein.The damping or control characteristics for the be applicable to each vehicle.
Anforderungen an das Bremssystem
Im
ABS/TCS/ESP Steuergerät
Als zusätzliche Eingangsgrößen d sind die Auswahlparameter die Bremscharakteristik vorzusehen.When additional Input variables d are the selection parameters provide the braking characteristic.
Als (zusätzliche) Ausgangsgrößen d' sind (vorzugsweise über CAN) bereitzustellen:
- – 4 Raddrehzahlen bzw. Radgeschwindigkeiten,
- – die Gierrate des Fahrzeugs,
- – die Querbeschleunigung des Fahrzeugs,
- – die Stellung des Bremskontaktschalters,
- – ein Signal über Systemaktivität der Systeme ABS, TCS, ESP,
- – Rückmeldung über den gestellten Parametersatz sowie
- – Fehlersignal.
- - 4 wheel speeds or wheel speeds,
- The yaw rate of the vehicle,
- The lateral acceleration of the vehicle,
- The position of the brake contact switch,
- A signal about system activity of the systems ABS, TCS, ESP,
- - Feedback on the set parameter set and
- - error signal.
Anforderungen für die Koordinationsrechner
Die
Koordinationsfunktionen werden in diesem Ausführungsbeispiel in einem separaten
Koordinationsrechner
Die
Koordinationsfunktionen des Koordinationsrechners
Fahrzustandsbeobachter
Der
Funktionsblock Fahrzustandsbeobachter
- – Raddrehzahlen/Raddrehgeschwindigkeiten,
- – Lenkradwinkel,
- – Querbeschleunigung des Fahrzeugs,
- – Giergeschwindigkeit des Fahrzeugs,
- – optional Einfederwege/Vertikalbeschleunigungen
- – Motordrehzahl, Motordrehmoment
- – optional
Bedienerinformation, z.B. als Bedien- und Anzeigelement
101 ein vom Fahrer be tätigbarer Getriebsgangwahlhebel und/oder Kupplungsschalter, - – eventuell weitere Signale.
- - wheel speeds / wheel speeds,
- - steering wheel angle,
- Lateral acceleration of the vehicle,
- Yaw rate of the vehicle,
- - optional compression travel / vertical accelerations
- - Engine speed, engine torque
- - optional operator information, eg as operating and display element
101 a gear selector lever and / or clutch switch which can be actuated by the driver, - - possibly further signals.
Im Interesse einer hohen Systemsicherheit wird hierbei die analytische Redundanz der Signale untereinander zur Signalüberwachung und Signalverbesserung ausgenutzt. Soweit die Signalkonfiguration und -Qualität es zulässt, werden eventuell weitere Schätzwerte für Fahrzeugbeladung und -steigung ermittelt.in the The interest of a high system security is the analytical one Redundancy of the signals among each other for signal monitoring and signal improvement exploited. As far as the signal configuration and quality allow, be possibly further estimates for vehicle loading and slope determined.
Der
Funktionsblock Fahrzustandsklassifikator
Fahrmanövererkennung
Der
Funktionsblock Fahrmanövererkennung
- – Raddrehzahlen/Raddrehgeschwindigkeiten
- – Lenkradwinkel
- – Fahrpedalstellung
- – Bremskontaktschalter (Betätigung des Bremspedals)
- – optional Kupplungsschalter; Gangwahlhebel (Betätigung der Kupplung und/oder Betätigung der Getriebegangwahl)
- – ggf. weitere Signale typische, für die Fahrzeugabstimmung relevante Fahrmanöver wie
- – Geradeausfahrt
- – Spurwechselwechsel
- – Wechselkurvenfahrt
- – Beschleunigungsmanöver
- – Bremsmanöver
- – etc.
- - wheel speeds / wheel speeds
- - Steering wheel angle
- - accelerator pedal position
- - Brake contact switch (operation of the brake pedal)
- - optional clutch switch; Gear lever (clutch operation and / or transmission gear selection)
- - If necessary, further signals typical, for vehicle tuning relevant driving maneuvers like
- - straight ahead
- - Lane change
- - exchange cam
- - acceleration maneuver
- - Brake maneuvers
- - Etc.
Fahrertyperkennung
Der
Funktionsblock
- – Lenkradwinkel,
- – Fahrpedalstellung,
- – Bremskontaktschalter und
- – optional Kupplungsschalter und/oder Gangwählhebel
- - steering wheel angle,
- - accelerator pedal position,
- - Brake contact switch and
- - optional clutch switch and / or gear selector lever
Bedien- und Anzeigeelemente
Zusätzliche
Bedien- und Anzeigeelemente
Parameterauswahl-Logik
Der
Funktionsblock Parameterauswahl-Logik
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10360666A DE10360666A1 (en) | 2003-12-23 | 2003-12-23 | Device for coordinated control of at least a motor vehicle drive and braking system changes characteristics according to dynamic conditions and drivers intentions |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10360666A DE10360666A1 (en) | 2003-12-23 | 2003-12-23 | Device for coordinated control of at least a motor vehicle drive and braking system changes characteristics according to dynamic conditions and drivers intentions |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10360666A1 true DE10360666A1 (en) | 2005-07-28 |
Family
ID=34706448
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10360666A Ceased DE10360666A1 (en) | 2003-12-23 | 2003-12-23 | Device for coordinated control of at least a motor vehicle drive and braking system changes characteristics according to dynamic conditions and drivers intentions |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE10360666A1 (en) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007107362A1 (en) * | 2006-03-22 | 2007-09-27 | Gm Global Technology Operations, Inc. | Method, control unit and motor vehicle personalization system for the personalized adjustment of a mechatronic automotive chassis |
DE102006025178A1 (en) * | 2006-05-30 | 2007-12-06 | Siemens Ag | Improvement method for fuel consumption in internal-combustion engine, involves recognition of driver, where comfort function is activated as function of result of driver recognition in motor control |
DE102007040905A1 (en) * | 2007-08-30 | 2009-03-05 | Bayerische Motoren Werke Aktiengesellschaft | Method and vehicle electrical system of a motor vehicle with predictive temporary torque reserve of the internal combustion engine |
DE102007057822A1 (en) * | 2007-11-30 | 2009-06-04 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Control method for a chassis of a motor vehicle, control system for a motor vehicle and motor vehicle |
WO2009074391A1 (en) | 2007-12-10 | 2009-06-18 | Robert Bosch Gmbh | Method and device for controlling security means for a vehicle |
US7684911B2 (en) | 2005-06-20 | 2010-03-23 | Gm Global Technology Operations, Inc. | Suspension control calibration integrity |
US7706941B2 (en) | 2006-07-20 | 2010-04-27 | Gm Global Technology Operations, Inc. | Method and system for coordinating a vehicle stability control system with a suspension damper control sub-system |
US7747359B2 (en) | 2005-06-20 | 2010-06-29 | Gm Global Technology Operations, Inc. | Vehicle state determination integrity |
WO2012028923A1 (en) * | 2010-08-30 | 2012-03-08 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
DE102010048163A1 (en) * | 2010-10-11 | 2012-04-12 | Volkswagen Ag | Method for coordinating steering force assistance contribution, involves determining steering force assistance contribution by electronic control unit, where electromechanical motor vehicle steering system comprises vehicle steering wheel |
WO2012035405A3 (en) * | 2010-09-15 | 2012-05-10 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
DE102011121719A1 (en) * | 2011-12-20 | 2013-06-20 | Gm Global Technology Operations, Llc | Device for controlling e.g. shock absorber in motor car, has user interface in which threshold value is varied by driver of motor car, where device changes compliance of subsystem in direction if index parameter exceeds threshold value |
WO2013174788A1 (en) * | 2012-05-24 | 2013-11-28 | Bayerische Motoren Werke Aktiengesellschaft | Device for event-controlled automatic activation of at least one vehicle function system of a vehicle |
US8818639B2 (en) | 2008-01-03 | 2014-08-26 | Robert Bosch Gmbh | Control unit and method for activating passenger protection means and sensor for outputting a crash-relevant signal |
DE102013217870A1 (en) * | 2013-09-06 | 2015-03-12 | Volkswagen Aktiengesellschaft | Method and device for operating a damping system for a motor vehicle |
DE102016120886A1 (en) * | 2016-11-02 | 2018-05-03 | Deutsche Telekom Ag | Method for the engine management of a vehicle |
DE102007053809B4 (en) | 2007-11-12 | 2018-10-31 | Robert Bosch Gmbh | Method and device for operating a drive unit of a vehicle |
DE102016006005B4 (en) | 2015-05-18 | 2022-10-13 | Mando Corporation | Electronically controlled suspension device and damping force regulating method |
-
2003
- 2003-12-23 DE DE10360666A patent/DE10360666A1/en not_active Ceased
Cited By (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7684911B2 (en) | 2005-06-20 | 2010-03-23 | Gm Global Technology Operations, Inc. | Suspension control calibration integrity |
US7747359B2 (en) | 2005-06-20 | 2010-06-29 | Gm Global Technology Operations, Inc. | Vehicle state determination integrity |
WO2007107362A1 (en) * | 2006-03-22 | 2007-09-27 | Gm Global Technology Operations, Inc. | Method, control unit and motor vehicle personalization system for the personalized adjustment of a mechatronic automotive chassis |
DE102006025178A1 (en) * | 2006-05-30 | 2007-12-06 | Siemens Ag | Improvement method for fuel consumption in internal-combustion engine, involves recognition of driver, where comfort function is activated as function of result of driver recognition in motor control |
US7706941B2 (en) | 2006-07-20 | 2010-04-27 | Gm Global Technology Operations, Inc. | Method and system for coordinating a vehicle stability control system with a suspension damper control sub-system |
DE102007033474B4 (en) * | 2006-07-20 | 2012-05-16 | Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) | A method and system for coordinating a vehicle stability control system with a suspension damper control subsystem |
US7974763B2 (en) | 2007-08-30 | 2011-07-05 | Bayerische Motoren Werke Aktiengesellschaft | Process and onboard power supply of a motor vehicle with an anticipating temporary torque derivation of the internal-combustion engine |
DE102007040905A1 (en) * | 2007-08-30 | 2009-03-05 | Bayerische Motoren Werke Aktiengesellschaft | Method and vehicle electrical system of a motor vehicle with predictive temporary torque reserve of the internal combustion engine |
WO2009030349A1 (en) * | 2007-08-30 | 2009-03-12 | Bayerische Motoren Werke Aktiengesellschaft | Method and vehicle electric system with anticipated temporary lead torque for the internal combustion engine |
CN101790629B (en) * | 2007-08-30 | 2013-05-29 | 宝马股份公司 | Method for predicating temporary torque of internal combustion engine and vehicular electric network having the temporary torque |
CN101790629A (en) * | 2007-08-30 | 2010-07-28 | 宝马股份公司 | Method and vehicle electric system with anticipated temporary lead torque for the internal combustion engine |
DE102007053809B4 (en) | 2007-11-12 | 2018-10-31 | Robert Bosch Gmbh | Method and device for operating a drive unit of a vehicle |
US8326495B2 (en) | 2007-11-30 | 2012-12-04 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method of regulating a chassis of a motor vehicle, regulating system for a motor vehicle, and motor vehicle |
FR2924393A1 (en) * | 2007-11-30 | 2009-06-05 | Porsche Ag | METHOD AND DEVICE FOR ADJUSTING THE BEARING TRAIN OF A MOTOR VEHICLE |
DE102007057822A1 (en) * | 2007-11-30 | 2009-06-04 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Control method for a chassis of a motor vehicle, control system for a motor vehicle and motor vehicle |
DE102007057822B4 (en) * | 2007-11-30 | 2016-10-27 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Control method for a chassis of a motor vehicle |
JP2011506170A (en) * | 2007-12-10 | 2011-03-03 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Method and apparatus for driving and controlling safety means for a vehicle |
CN101888941A (en) * | 2007-12-10 | 2010-11-17 | 罗伯特·博世有限公司 | Method and device for controlling security means for a vehicle |
WO2009074391A1 (en) | 2007-12-10 | 2009-06-18 | Robert Bosch Gmbh | Method and device for controlling security means for a vehicle |
CN101888941B (en) * | 2007-12-10 | 2013-03-27 | 罗伯特·博世有限公司 | Method and device for controlling security means for a vehicle |
US8818639B2 (en) | 2008-01-03 | 2014-08-26 | Robert Bosch Gmbh | Control unit and method for activating passenger protection means and sensor for outputting a crash-relevant signal |
US8954232B2 (en) | 2010-08-30 | 2015-02-10 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
WO2012028923A1 (en) * | 2010-08-30 | 2012-03-08 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
CN103068658A (en) * | 2010-08-30 | 2013-04-24 | 丰田自动车株式会社 | Vehicle control system |
CN103068658B (en) * | 2010-08-30 | 2016-08-10 | 丰田自动车株式会社 | Vehicle control system |
WO2012035405A3 (en) * | 2010-09-15 | 2012-05-10 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
DE102010048163B4 (en) * | 2010-10-11 | 2021-07-01 | Volkswagen Ag | Method for coordinating the steering force assistance contribution in an electromechanical motor vehicle steering system |
DE102010048163A1 (en) * | 2010-10-11 | 2012-04-12 | Volkswagen Ag | Method for coordinating steering force assistance contribution, involves determining steering force assistance contribution by electronic control unit, where electromechanical motor vehicle steering system comprises vehicle steering wheel |
DE102011121719A1 (en) * | 2011-12-20 | 2013-06-20 | Gm Global Technology Operations, Llc | Device for controlling e.g. shock absorber in motor car, has user interface in which threshold value is varied by driver of motor car, where device changes compliance of subsystem in direction if index parameter exceeds threshold value |
WO2013174788A1 (en) * | 2012-05-24 | 2013-11-28 | Bayerische Motoren Werke Aktiengesellschaft | Device for event-controlled automatic activation of at least one vehicle function system of a vehicle |
DE102013217870A1 (en) * | 2013-09-06 | 2015-03-12 | Volkswagen Aktiengesellschaft | Method and device for operating a damping system for a motor vehicle |
CN104417308B (en) * | 2013-09-06 | 2017-11-17 | 大众汽车有限公司 | For the method and apparatus for the vibration insulating system for running automobile-use |
US9809077B2 (en) | 2013-09-06 | 2017-11-07 | Volkswagen Ag | Method and apparatus for operating a cushioning system for a motor vehicle |
CN104417308A (en) * | 2013-09-06 | 2015-03-18 | 大众汽车有限公司 | Method and apparatus for operating a cushioning system for a motor vehicle |
DE102013217870B4 (en) | 2013-09-06 | 2022-10-06 | Volkswagen Aktiengesellschaft | Method and device for operating a damping system for a motor vehicle |
DE102016006005B4 (en) | 2015-05-18 | 2022-10-13 | Mando Corporation | Electronically controlled suspension device and damping force regulating method |
DE102016120886A1 (en) * | 2016-11-02 | 2018-05-03 | Deutsche Telekom Ag | Method for the engine management of a vehicle |
DE102016120886B4 (en) | 2016-11-02 | 2022-09-08 | Deutsche Telekom Ag | Process for the engine management of a vehicle with an internal combustion engine |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE10360666A1 (en) | Device for coordinated control of at least a motor vehicle drive and braking system changes characteristics according to dynamic conditions and drivers intentions | |
DE4446592B4 (en) | Driving dynamics control system | |
DE60308305T2 (en) | Method and device for suspension control of a motor vehicle | |
EP1197409B1 (en) | Vehicle dynamics control method | |
DE4446582B4 (en) | Driving dynamics control system | |
DE3627549C2 (en) | ||
DE102007010894B4 (en) | Control device for a vehicle with cooperation control unit | |
DE102007033474B4 (en) | A method and system for coordinating a vehicle stability control system with a suspension damper control subsystem | |
DE10025492A1 (en) | Method and device for reporting the driving state of a vehicle to the driver | |
DE102019105922A1 (en) | Method for operating a steering system and steering system | |
DE10226683A1 (en) | Driving stability management through a vehicle controller network | |
DE102007032722A1 (en) | Motor vehicle operation optimizing method for accelerator pedal device, involves transmitting haptic drive instruction to driver to optimize preset operating value of vehicle, considering acceleration desire of driver as operating parameter | |
EP0920389A1 (en) | Method and device for regulating motion quantities representing the movement of a vehicle | |
DE4446534B4 (en) | Driving dynamics control system | |
DE19616732B4 (en) | Method and device for controlling the brake system of a vehicle | |
DE19922745A1 (en) | Wheel suspension for motorcycle uses electronic control device for adjusting damping force of each wheel suspension unit dependent on manual selection or monitored operating parameters | |
DE102008053004A1 (en) | Method and system for influencing the movement of a controllable in his movements vehicle structure of a motor vehicle and vehicle | |
DE10235472B4 (en) | Device for controlling the brakes of a commercial vehicle | |
EP2432670B1 (en) | Braking system having an integrated retarder | |
DE102004040616B4 (en) | Method and device for reporting fault conditions in a vehicle to the driver | |
DE19964032A1 (en) | Stabilizing vehicle involves regulating transverse dynamic parameter describing transverse dynamic properties of vehicle so that vehicle's float angle is limited to predefined value | |
DE102004009467A1 (en) | Control system for vehicles has control unit with coordination level in which actual value of vehicle parameter is compared with desired value and control signal generated which is fed to electronic module operating brake actuator | |
DE10143551A1 (en) | Device for controlling vehicle equipment has at least one software module for processing data components in longitudinal direction, at least one for processing data in transverse direction | |
DE10058071A1 (en) | Method and device for recognizing a standstill state of a motor vehicle | |
WO2010142496A1 (en) | Method for generating a differential torque acting on the vehicle wheels of a vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8110 | Request for examination paragraph 44 | ||
R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final |