DE112007002457A5 - Verfahren zur Regelung der Gierrate eines Kraftfahrzeuges - Google Patents

Verfahren zur Regelung der Gierrate eines Kraftfahrzeuges Download PDF

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Publication number
DE112007002457A5
DE112007002457A5 DE112007002457T DE112007002457T DE112007002457A5 DE 112007002457 A5 DE112007002457 A5 DE 112007002457A5 DE 112007002457 T DE112007002457 T DE 112007002457T DE 112007002457 T DE112007002457 T DE 112007002457T DE 112007002457 A5 DE112007002457 A5 DE 112007002457A5
Authority
DE
Germany
Prior art keywords
controlling
motor vehicle
yaw rate
yaw
rate
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
Application number
DE112007002457T
Other languages
English (en)
Inventor
Ulrich Angeringer
Marlene Kreutz
Martin Horn
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.)
Magna Steyr Fahrzeugtechnik GmbH and Co KG
Technische Universitaet Graz
Original Assignee
Steyr Daimler Puch Fahrzeugtechnik AG and Co KG
Technische Universitaet Graz
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 Steyr Daimler Puch Fahrzeugtechnik AG and Co KG, Technische Universitaet Graz filed Critical Steyr Daimler Puch Fahrzeugtechnik AG and Co KG
Publication of DE112007002457A5 publication Critical patent/DE112007002457A5/de
Ceased legal-status Critical Current

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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/1005—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/20—Type of damper
    • B60G2202/25—Dynamic damper
    • 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
    • B60G2400/0523—Yaw 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
    • B60G2400/0533—Yaw acceleration
    • 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
    • B60G2800/016—Yawing 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
    • B60G2800/90—System Controller type
    • B60G2800/96—ASC - Assisted or power Steering control
    • B60G2800/962—Four-wheel steering
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/86—Optimizing braking by using ESP vehicle or tire model
    • 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
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
DE112007002457T 2006-10-16 2007-10-16 Verfahren zur Regelung der Gierrate eines Kraftfahrzeuges Ceased DE112007002457A5 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102006048835.0 2006-10-16
DE200610048835 DE102006048835A1 (de) 2006-10-16 2006-10-16 Verfahren zur Regelung der Gierrate eines Kraftfahrzeugs
PCT/EP2007/008967 WO2008046586A2 (de) 2006-10-16 2007-10-16 Verfahren zur regelung der gierrate eines kraftfahrzeuges

Publications (1)

Publication Number Publication Date
DE112007002457A5 true DE112007002457A5 (de) 2009-10-15

Family

ID=39184999

Family Applications (2)

Application Number Title Priority Date Filing Date
DE200610048835 Withdrawn DE102006048835A1 (de) 2006-10-16 2006-10-16 Verfahren zur Regelung der Gierrate eines Kraftfahrzeugs
DE112007002457T Ceased DE112007002457A5 (de) 2006-10-16 2007-10-16 Verfahren zur Regelung der Gierrate eines Kraftfahrzeuges

Family Applications Before (1)

Application Number Title Priority Date Filing Date
DE200610048835 Withdrawn DE102006048835A1 (de) 2006-10-16 2006-10-16 Verfahren zur Regelung der Gierrate eines Kraftfahrzeugs

Country Status (2)

Country Link
DE (2) DE102006048835A1 (de)
WO (1) WO2008046586A2 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009056674B4 (de) * 2009-12-02 2023-11-30 Volkswagen Ag Vorrichtung und Verfahren zur Beeinflussung der Querdynamik eines Kraftfahrzeugs
US8886410B2 (en) * 2013-02-13 2014-11-11 Honda Motor Co., Ltd. Methods of controlling four-wheel steered vehicles
DE102014008199A1 (de) 2013-09-10 2015-03-12 Daimler Ag Verfahren zum Verbessern des Gierverhaltens eines Kraftfahrzeugs
DE102013110149A1 (de) * 2013-09-16 2015-04-02 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Steuern einer Lenkung in einem Kraftfahrzeug
DE102016005966A1 (de) 2016-05-13 2017-11-16 Daimler Ag Verfahren zum Verbessern des Gierverhaltens eines Kraftfahrzeugs
CN111204332B (zh) * 2020-02-10 2022-07-15 哈尔滨工业大学 一种全工况下优化车辆横摆动态性能的滑模控制方法
CN114312749B (zh) * 2021-11-24 2024-05-07 中国煤炭科工集团太原研究院有限公司 多点独立轮边驱动矿用车辆防滑横摆转矩控制方法及设备

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60161256A (ja) * 1984-01-31 1985-08-22 Nissan Motor Co Ltd 車両の補助操舵方法
JPS60193775A (ja) * 1984-03-15 1985-10-02 Honda Motor Co Ltd 車両の後輪転舵装置
US4998593A (en) * 1989-03-31 1991-03-12 Aisin Seiki Kabushiki Kaisha Steering and brake controlling system
DE4206654C2 (de) * 1990-09-06 1993-12-16 Deutsche Forsch Luft Raumfahrt Verfahren zum Lenken eines Straßenfahrzeugs mit Vorder- und Hinterradlenkung
US5402341A (en) * 1992-04-06 1995-03-28 Ford Motor Company Method and apparatus for four wheel steering control utilizing tire characteristics
DE4340932B4 (de) * 1993-12-01 2005-08-25 Robert Bosch Gmbh Verfahren zur Regelung der Fahrstabilität eines Kraftfahrzeugs
DE19907792C2 (de) * 1999-02-24 2001-03-08 Daimler Chrysler Ag Regelungssystem
DE10009921A1 (de) * 2000-03-01 2001-07-19 Bayerische Motoren Werke Ag Verfahren zur Erhöhung der Fahrstabilität bei einem Fahrzeug
EP1285833B1 (de) * 2001-08-22 2006-09-13 Delphi Technologies, Inc. Verfahren und Vorrichtung mit dynamischer Vorwärtssteuerung zur integrierten Lenk- und Bremssteuerung eines Kraftfahrzeugs
DE10216247A1 (de) * 2002-04-12 2003-11-06 Deutsch Zentr Luft & Raumfahrt Regelung von Systemen mit kinästhetischer Kopplung

Also Published As

Publication number Publication date
WO2008046586A2 (de) 2008-04-24
DE102006048835A1 (de) 2008-04-17
WO2008046586A3 (de) 2008-06-19

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R079 Amendment of ipc main class

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Ipc: B60G0021100000

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Effective date: 20141016

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R016 Response to examination communication
R002 Refusal decision in examination/registration proceedings
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