DE10391325D2 - Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen - Google Patents

Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen

Info

Publication number
DE10391325D2
DE10391325D2 DE10391325T DE10391325T DE10391325D2 DE 10391325 D2 DE10391325 D2 DE 10391325D2 DE 10391325 T DE10391325 T DE 10391325T DE 10391325 T DE10391325 T DE 10391325T DE 10391325 D2 DE10391325 D2 DE 10391325D2
Authority
DE
Germany
Prior art keywords
vehicle
driving behavior
variables characterizing
determining variables
determining
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.)
Expired - Fee Related
Application number
DE10391325T
Other languages
English (en)
Inventor
Werner Bernzen
Wilfried Huber
Volker Maass
Avshalom Suissa
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.)
Daimler AG
Original Assignee
DaimlerChrysler AG
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 DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE10391325T priority Critical patent/DE10391325D2/de
Application granted granted Critical
Publication of DE10391325D2 publication Critical patent/DE10391325D2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • 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
    • 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
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • 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
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
    • 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
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/824—Travel path sensing; Track monitoring
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1307—Load distribution on each wheel suspension
    • 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
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • 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
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/001—Proportional integral [PI] controller
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0044—In digital 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • 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
    • B60W2050/065—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot by reducing the computational load on the digital processor of the control computer
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B60W2510/182—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/22—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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch
    • 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
    • B60W2520/18—Roll
    • 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
    • B60W2520/28—Wheel 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2720/14—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
    • 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
DE10391325T 2002-03-13 2003-03-07 Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen Expired - Fee Related DE10391325D2 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE10391325T DE10391325D2 (de) 2002-03-13 2003-03-07 Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10211221 2002-03-13
DE10211220 2002-03-13
DE10391325T DE10391325D2 (de) 2002-03-13 2003-03-07 Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen
PCT/EP2003/002341 WO2003076243A1 (de) 2002-03-13 2003-03-07 Verfahren und vorrichtung zur ermittlung von das fahrverhalten eines fahrzeuges charakterisierenden grössen

Publications (1)

Publication Number Publication Date
DE10391325D2 true DE10391325D2 (de) 2005-02-10

Family

ID=27806084

Family Applications (2)

Application Number Title Priority Date Filing Date
DE10391325T Expired - Fee Related DE10391325D2 (de) 2002-03-13 2003-03-07 Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen
DE10391324T Expired - Fee Related DE10391324D2 (de) 2002-03-13 2003-03-07 Vorrichtung zum Bereitstellen von Größen

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE10391324T Expired - Fee Related DE10391324D2 (de) 2002-03-13 2003-03-07 Vorrichtung zum Bereitstellen von Größen

Country Status (4)

Country Link
US (1) US20050182548A1 (de)
EP (2) EP1483142A1 (de)
DE (2) DE10391325D2 (de)
WO (2) WO2003076243A1 (de)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090152940A1 (en) * 2003-08-22 2009-06-18 Bombardier Recreational Products Inc. Three-wheel vehicle electronic stability system
DE10358335B3 (de) * 2003-12-12 2005-05-25 Siemens Ag Bestimmung von dynamischen Achslasten und/oder Radlasten eines Radfahrzeuges
JP4515201B2 (ja) 2004-09-06 2010-07-28 株式会社デンソー 車両安定化制御システム
US7630796B2 (en) 2004-09-06 2009-12-08 Denso Corporation Body action information system
FR2888164B1 (fr) * 2005-07-05 2007-08-31 Renault Sas Procede et systeme anti-roulis d'un vehicule et vehicule correspondant
DE102005060219A1 (de) * 2005-12-16 2007-06-21 Ford Global Technologies, LLC, Dearborn Verfahren und Vorrichtung zur Abschätzung des Reibkoeffizienten zwischen Straße und Reifen eines Kraftfahrzeuges
EP1832881A3 (de) * 2006-03-08 2007-09-26 Yamaha Hatsudoki Kabushiki Kaisha Vorrichtung zum Schätzen einer Beschleunigung und Fahrzeug mit einer solchen Vorrichtung
US8712639B2 (en) * 2006-08-30 2014-04-29 Ford Global Technologies Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine longitudinal velocity
US7970512B2 (en) * 2006-08-30 2011-06-28 Ford Global Technologies Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system with pitch information
DE102006061249A1 (de) * 2006-12-22 2008-06-26 Siemens Ag Verfahren und Vorrichtung zum Ermitteln einer Reibkennzahl
WO2008111436A1 (ja) * 2007-03-05 2008-09-18 Yokohama National University 自動車のピッチング制御装置および制御方法
DE102007013261B4 (de) * 2007-03-20 2017-03-16 Ford Global Technologies, Llc Verfahren und Vorrichtung zum Schätzen der Quergeschwindigkeit eines Fahrzeuges
DE102007047337A1 (de) * 2007-10-04 2008-05-08 Vdo Automotive Ag Verfahren und System zum Verarbeiten von Sensorsignalen eines Kraftfahrzeugs
EP2323890B1 (de) * 2008-09-10 2012-09-05 Continental Teves AG & Co. oHG Verfahren zur lenkunterstützung bei notmanöver
KR101600125B1 (ko) * 2008-10-17 2016-03-04 콘티넨탈 테베스 아게 운트 코. 오하게 차량을 위한 구동 역학 제어 시스템
US8855885B2 (en) * 2009-03-30 2014-10-07 Honda Motor Co., Ltd. Device for estimating state quantity of skid motion of vehicle
JP6299289B2 (ja) * 2014-03-06 2018-03-28 株式会社豊田中央研究所 パラメータ学習装置、運転支援装置、及びプログラム
US9371073B1 (en) 2015-06-19 2016-06-21 GM Global Technology Operations LLC Real-time determination of tire normal forces
DE102016214064A1 (de) * 2016-07-29 2018-02-01 Zf Friedrichshafen Ag Bestimmung von Fahrzustandsgrößen
DE102016122245A1 (de) * 2016-11-18 2018-05-24 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren und Vorrichtung zur Traktionskontrolle für ein Fahrzeug
JP6286092B1 (ja) * 2017-05-30 2018-02-28 株式会社ショーワ サスペンション制御装置、及びサスペンション装置。
JP6286091B1 (ja) 2017-05-30 2018-02-28 株式会社ショーワ 車両状態推定装置、制御装置、サスペンション制御装置、及びサスペンション装置。
CN109050537A (zh) * 2018-08-01 2018-12-21 合肥工业大学 一种复合驾驶意图识别方法
US11787419B1 (en) * 2021-10-22 2023-10-17 Zoox, Inc. Robust numerically stable Kalman filter for autonomous vehicles
DE102022103068A1 (de) 2022-02-09 2023-08-10 Cariad Se Verfahren und Rechenvorrichtung zum Erkennen eines stabilen fahrdynamischen Systemzustands eines Fahrzeugs sowie Regelsystem und Fahrzeug mit einem solchen Regelsystem

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03258650A (ja) * 1990-03-09 1991-11-18 Toyota Motor Corp 路面摩擦係数検出装置
DE4030653A1 (de) * 1990-09-28 1992-04-02 Bosch Gmbh Robert Verfahren zum bestimmen der schraeglaufwinkel und/oder der seitenfuehrungskraefte eines gebremsten fahrzeuges
DE4200061C2 (de) * 1992-01-03 2001-09-13 Bosch Gmbh Robert Verfahren zur Bestimmung der Fahrzeugquergeschwindigkeit und/oder des Schwimmwinkels
DE4226749C2 (de) * 1992-08-13 1996-02-08 Daimler Benz Ag Verfahren zur Bestimmung das Fahrverhalten charakterisierender Größen
DE4228893B4 (de) * 1992-08-29 2004-04-08 Robert Bosch Gmbh System zur Beeinflussung der Fahrdynamik eines Kraftfahrzeugs
DE59304134D1 (de) * 1993-06-22 1996-11-14 Siemens Ag Verfahren und Schaltungsanordnung zum Ermitteln des Reibwerts
DE4325413C2 (de) * 1993-07-29 1995-05-18 Daimler Benz Ag Verfahren zur Bestimmung des Fahrverhalten charakterisierender Größen
DE4436162C1 (de) * 1994-10-10 1996-03-21 Siemens Ag System zum Regeln der Fahrstabilität eines Kraftfahrzeugs
DE19549083B4 (de) * 1995-12-29 2010-06-17 Robert Bosch Gmbh Sicherheitssystem
US6195606B1 (en) * 1998-12-07 2001-02-27 General Motors Corporation Vehicle active brake control with bank angle compensation
WO2001000468A1 (en) * 1999-06-30 2001-01-04 Kelsey-Hayes Company Integrated braking and suspension control systems for a vehicle
DE60022738T8 (de) * 2000-04-17 2006-06-08 Robert Bosch Gmbh Vorrichtung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern
EP1147928B1 (de) * 2000-04-17 2005-09-21 Robert Bosch GmbH Vorrichung und Methode zur Bestimmung von statischen und dynamischen Fahrzeugparametern
DE10056549C2 (de) * 2000-11-15 2003-11-06 Bosch Gmbh Robert Mehrfachnutzung von Sensorsignalen durch mehrere Fahrzeugsysteme
US6351694B1 (en) * 2001-01-16 2002-02-26 Ford Global Technologies, Inc. Method for robust estimation of road bank angle
US6654674B2 (en) * 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function

Also Published As

Publication number Publication date
EP1483142A1 (de) 2004-12-08
EP1483129A1 (de) 2004-12-08
DE10391324D2 (de) 2005-04-21
US20050182548A1 (en) 2005-08-18
WO2003076228A1 (de) 2003-09-18
WO2003076243A1 (de) 2003-09-18

Similar Documents

Publication Publication Date Title
DE10391325D2 (de) Verfahren und Vorrichtung zur Ermittlung von das Fahrverhalten eines Fahrzeuges charakterisierenden Größen
DE50210667D1 (de) Verfahren und vorrichtung zur begrenzung der fahrgeschwindigkeit eines kraftfahrzeugs
DE112004002070D2 (de) Verfahren und System zur Verbesserung des Fahrverhaltens eines Fahrzeugs
DE60330614D1 (de) Vorrichtung und Verfahren zur Fahrzeugantriebssteuerung
DE602004020931D1 (de) Vorrichtung und Verfahren zur Unterstützung des Fahrens eines Fahrzeugs
DE60120318D1 (de) Vorrichtung und Verfahren zur Regelung des Fahrverhaltens eines Fahrzeuges
DE10393615D2 (de) Verfahren und Vorrichtung zur Stabilisierung eines Fahrzeuggespannes
DE50207340D1 (de) Vorrichtung und verfahren zur regelung der fahrgeschwindigkeit eines fahrzeugs
DE60329155D1 (de) Verfahren und Vorrichtung zur Zuordnung von den Reifen mit den Reifenpositionen eines Fahrzeuges
DE60300498D1 (de) Verfahren und Vorrichtung zum Feststellen und zur Mengenbestimmung von Flüssigkeit
DE502004006197D1 (de) Verfahren und vorrichtung zur beeinflussung der beanspruchung eines fahrers in einem kraftfahrzeug
DE502004006438D1 (de) Verfahren und computerprogramm zum erkennen von unaufmerksamkeiten des fahrers eines fahrzeugs
DE60315208D1 (de) Vorrichtung und Verfahren zur Hinderniserkennung für Fahrzeuge
DE60308305D1 (de) Verfahren und Vorrichtung zur Fahrwerkregelung eines Kraftfahrzeuges
DE502004012354D1 (de) Verfahren und vorrichtung zur detektion von objekten in der umgebung eines fahrzeugs
DE50213018D1 (de) Verfahren und vorrichtung zur kurspraediktion bei kraftfahrzeugen
DE50303473D1 (de) Vorrichtung und verfahren zur beeinflussung der arbeitsweise wenigstens einer in einem fahrzeug angeordneten fahrzeugstabilisierungsvorrichtung
DE502004011845D1 (de) Vorrichtung und Verfahren zur Darstellung von Fahrhinweisen
DE60308724D1 (de) Verfahren und Vorrichtung zum öffnen des Gaspedals eines Kraftfahrzeuges
DE60306614T8 (de) Vorrichtung und Verfahren zur Überwachung der nahen Umgebung eines Fahrzeuges
DE60022265D1 (de) Verfahren und Vorrichtung zur Regelung des Fahrverhaltens eines Fahrzeuges
DE60311759D1 (de) Verfahren und Vorrichtung zur Prüfung von Fingerabdrücken
DE60209608D1 (de) Verfahren und Vorrichtung zur Ermittlung von Strassenzuständen
DE50103531D1 (de) Verfahren und Vorrichtung zum Koordinieren von Eingriffen in das Fahrverhalten eines Fahrzeugs
DE50309327D1 (de) Verfahren und vorrichtung zur steuerung von funktionen eines arbeitsfahrzeuges

Legal Events

Date Code Title Description
8139 Disposal/non-payment of the annual fee