DE19533926A1 - System for vehicle wheel-independent speed measurement and improvement to ABS system - Google Patents

System for vehicle wheel-independent speed measurement and improvement to ABS system

Info

Publication number
DE19533926A1
DE19533926A1 DE1995133926 DE19533926A DE19533926A1 DE 19533926 A1 DE19533926 A1 DE 19533926A1 DE 1995133926 DE1995133926 DE 1995133926 DE 19533926 A DE19533926 A DE 19533926A DE 19533926 A1 DE19533926 A1 DE 19533926A1
Authority
DE
Germany
Prior art keywords
abs
vehicles
improvement
abs system
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE1995133926
Other languages
German (de)
Inventor
Michael Prof Dr Dr Gitis
Karl-Heinz Rupp
Karl Victor
Josef Dipl Ing Goeckler
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.)
RUPP KARL HEINZ
Original Assignee
RUPP KARL HEINZ
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 RUPP KARL HEINZ filed Critical RUPP KARL HEINZ
Priority to DE1995133926 priority Critical patent/DE19533926A1/en
Publication of DE19533926A1 publication Critical patent/DE19533926A1/en
Withdrawn legal-status Critical Current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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/329—Systems characterised by their speed sensor arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/56—Devices characterised by the use of electric or magnetic means for comparing two speeds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

Abstract

The system measures speeds by acoustic Doppler effect using ultrasound. For vehicles without an ABS system at any instant the difference between tyre and vehicle speed relative to the road surface is known, and from that information for the driver can be derived. For vehicles with an ABS system, any blocking of the tyres even when heavy braking occurs is completely prevented. In consequence the resultant braking distance can be greatly reduced compared to existing ABS systems.

Description

Das Gerät mißt - unabhängig voneinander - die Geschwindigkeit des Fahrzeuges zur Fahrbahn sowie die Oberflächengeschwindigkeit der Reifen. Dadurch können für jedes einzelne Rad Aussagen über die Haftung auf der Straßendecke und somit über das Gesamtverhalten des Fahrzeuges getroffen werden.The device measures - independently of one another - the speed of the vehicle Road surface as well as the surface speed of the tires. This allows for each single wheel statements about the liability on the road surface and thus about the Overall behavior of the vehicle.

Die Messung basiert auf dem akustischen Dopplereffekt.The measurement is based on the acoustic Doppler effect.

Dazu wird ein Ultraschallwandler am Boden des Fahrzeuges befestigt. Dieser strahlt Ultraschaltwellen mit der Frequenz f₀ aus (siehe Abb. 1).To do this, an ultrasonic transducer is attached to the floor of the vehicle. This emits ultrasonic waves with the frequency f₀ (see Fig. 1).

Aufgrund des Dopplereffektes ändert sich die Frequenz f₁ der reflektierten Welle in Abhängigkeit von der Fahrtgeschwindigkeit.Due to the Doppler effect, the frequency f₁ of the reflected wave changes in Depends on the driving speed.

Wenn die Ultraschallwellen unter dem Winkel θ₁ bei gegebener Fahrgeschwindigkeit Va auf die Fahrbahndecke auftreffen, dann ergibt sich die Frequenzänderung wie folgt:If the ultrasonic waves hit the road surface at a given driving speed V a at an angle θ₁, the frequency change is as follows:

mit S = Schallgeschwindigkeit
und Δf₁ = f₁ - f₀.with S = speed of sound
and Δf₁ = f₁ - f₀.

Die reflektierten Ultraschallsignale werden von einem zweiten Ultraschallwandler empfangen. Durch Verstärken der empfangenen Signale wird nun der Frequenzunterschied beispielsweise mittels eines Fensterdiskreminators gemessen.The reflected ultrasound signals are from a second ultrasound transducer receive. By amplifying the received signals, the Frequency difference measured for example by means of a window discriminator.

Die Größen f₀, s und θ₁ sind bekannt. Durch Umstellen der Gleichung 1 nach Va kann man die Fahrzeuggeschwindigkeit berechnen.The sizes f₀, s and θ₁ are known. The vehicle speed can be calculated by changing equation 1 to V a .

Eine ähnliche Vorgehensweise wird zur Bestimmung der linearen Reifengeschwindigkeit verwendet (Abb. 2).A similar procedure is used to determine the linear tire speed ( Fig. 2).

In diesem Fall strahlt der Ultraschallwandler die Ultraschallwelle mit der Frequenz f₀ in Richtung des Rades aus. Aufgrund von Unebenheiten der Reifenoberfläche wird die Ultraschallwelle gestreut. Anteile der gestreuten Welle, die wegen des Dopplereffektes mit der geänderten Frequenz f₂ auftreten, werden von einem zweiten Ultraschallwandler empfangen.In this case, the ultrasonic transducer emits the ultrasonic wave with the frequency f₀ towards the wheel. Due to unevenness in the tire surface, the Scattered ultrasonic wave. Shares of the scattered wave caused by the Doppler effect with the changed frequency f₂ occur from a second Receive ultrasonic transducer.

Es gilt entsprechend Gleichung 1:According to equation 1:

Im Normalfall sind die Geschwindigkeiten Va und Ve gleich. Dies gilt für den Fall guter Haftung zwischen der Straßenoberfläche und den Reifen.The speeds V a and V e are normally the same. This applies in the case of good grip between the road surface and the tires.

Für den Fall, daß sich die Haftung der Reifen auf der Straßenoberfläche ändert, so ergibt sich eine Differenz der Geschwindigkeiten Ve und Va. Da die Geschwindigkeiten Va bzw. Ve den Frequenzen f₁ bzw. f₂ proportional sind, kann der Betrag der Differenz f₁-f₂ am Ausgang des Gerätes zur Verfügung gestellt werden. Dies geschieht zweckmäßigerweise durch Umwandlung in eine äquivalente Spannung.In the event that the grip of the tires on the road surface changes, there is a difference in the speeds V e and V a . Since the speeds V a and V e are proportional to the frequencies f 1 and f 2, the amount of the difference f 1 -f 2 can be made available at the output of the device. This is conveniently done by converting it into an equivalent voltage.

Bei einer Abweichung der Geschwindigkeit Ve von Va, die beispielsweise durch Rutschen auf der Fahrbahn entsteht, ergeben sich folgende Werte:If the speed V e deviates from V a , for example due to slipping on the road, the following values result:

(s ist die Schallgeschwindigkeit)
Θ₁ =Θ₂ = 45°, f₁-f₂ ≅ 200 Hz.(s is the speed of sound)
Θ₁ = Θ₂ = 45 °, f₁-f₂ ≅ 200 Hz.

Eine zweite Möglichkeit besteht darin, die Radgeschwindigkeit mit Hilfe eines Tachogenerators zu messen.A second option is to measure the wheel speed using a Tachogenerators to measure.

Dazu wird die Geschwindigkeit Va (Gleichung 1) in eine proportionale Spannung Ua umgewandelt.For this purpose, the speed V a (equation 1) is converted into a proportional voltage U a .

Für die Tachogeneratorspannung gilt:The following applies to the tachometer generator voltage:

UT = K₁ · 2 · π · R · fT = K₁ · fT Gleichung 3U T = K₁ · 2 · π · R · f T = K₁ · f T Equation 3

Und aus Gleichung 1:And from equation 1:

wobei fT die gemessene Frequenz ist, R der Radradius und K₁, KI und KII Proportionalitätsfaktoren.where f T is the measured frequency, R the wheel radius and K₁, K I and K II proportionality factors.

Bei normalen Straßenbeschaffenheit und guter Haftung der Reifen zur Fahrbahn ergibt sich:If the road surface is normal and the tires adhere well to the road surface yourself:

Wenn < K₀ ist, erzeugt das Gerät eine Meldung.If <K₀ is, the device generates a message.

Zahlenmäßige Berechnungen:Numerical calculations:

Um nun eine Aussage über alle Fahrzeugräder machen zu können, müssen die vorgestellten Anordnungen entsprechend der Radanzahl vorhanden sein. Da in diesem Fall die Geschwindigkeit jedes Rades bekannt ist, kann man daraus resultierend eine Aussage über Stabilität und Fahrverhalten des Fahrzeuges treffen. Die Stabilität ist dann gegeben, wenn alle Radgeschwindigkeiten gleich der Fahrzeuggeschwindigkeit sind. Hierbei ist zu beachten, daß dies nicht für eine Kurvenfahrt gilt.In order to be able to make a statement about all vehicle wheels, the presented arrangements to be present according to the number of wheels. Because in this If the speed of each wheel is known, you can get one as a result Make a statement about the stability and driving behavior of the vehicle. The stability is  given when all wheel speeds are equal to the vehicle speed are. Please note that this does not apply to cornering.

Claims (1)

Radunabhängige Geschwindigkeitserfassung und Verbesserung der ABS-Einrichtung bei Kraftfahrzeugen,
dadurch gekennzeichnet, daß
  • 1. für Fahrzeuge ohne ABS-System zu jedem Zeitpunkt die Differenz zwischen Reifen- und Fahrzeuggeschwindigkeit relativ zur Fahrbahn bekannt ist, und daraus Informationen für den Fahrer abgeleitet werden können,
  • 2. für Fahrzeuge mit ABS-System jegliches Blockieren der Reifen selbst bei starken Bremsmanövern komplett verhindert wird, und
  • 3. dadurch der anfallenden Bremsweg gegenüber bestehenden ABS-Systemen nochmals verkürzt wird.
Wheel-independent speed detection and improvement of the ABS device in motor vehicles,
characterized in that
  • 1. for vehicles without ABS system, the difference between tire and vehicle speed relative to the road is known at all times, and information for the driver can be derived from this,
  • 2. for vehicles with ABS system, any blocking of the tires is completely prevented, even during strong braking maneuvers, and
  • 3. This further reduces the braking distance incurred compared to existing ABS systems.
DE1995133926 1995-09-13 1995-09-13 System for vehicle wheel-independent speed measurement and improvement to ABS system Withdrawn DE19533926A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE1995133926 DE19533926A1 (en) 1995-09-13 1995-09-13 System for vehicle wheel-independent speed measurement and improvement to ABS system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE1995133926 DE19533926A1 (en) 1995-09-13 1995-09-13 System for vehicle wheel-independent speed measurement and improvement to ABS system

Publications (1)

Publication Number Publication Date
DE19533926A1 true DE19533926A1 (en) 1997-03-20

Family

ID=7772059

Family Applications (1)

Application Number Title Priority Date Filing Date
DE1995133926 Withdrawn DE19533926A1 (en) 1995-09-13 1995-09-13 System for vehicle wheel-independent speed measurement and improvement to ABS system

Country Status (1)

Country Link
DE (1) DE19533926A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002052298A1 (en) * 2000-12-22 2002-07-04 Pirelli Pneumatici S.P.A. System and method for measuring kinematic parameters of a tyre during the running of a vehicle
WO2008031639A1 (en) * 2006-09-12 2008-03-20 Continental Automotive Gmbh Sensor device, method for carrying out driving dynamics regulation and driving dynamics regulation system
DE102020127569B3 (en) 2020-10-20 2022-04-21 C & S GmbH Consulting und Services speed meter

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3701568A (en) * 1970-09-30 1972-10-31 Bendix Corp Adaptive braking system utilizing doppler radar
DE2618755A1 (en) * 1975-04-30 1976-11-11 Nissan Motor FAULT DETECTING DEVICE FOR A VEHICLE SPEED METER
DE3811727A1 (en) * 1987-04-13 1988-11-03 Volkswagen Ag Device for measuring the circumferential speed of a vehicle wheel
US4893287A (en) * 1987-12-17 1990-01-09 Caterpillar Inc. Velocity reference system
DE4225653A1 (en) * 1991-08-05 1993-02-11 Toyota Motor Co Ltd DOUBLE EFFECT SPEED MEASURING SYSTEM
US5371718A (en) * 1992-04-13 1994-12-06 Toyota Jidosha Kabushiki Kaisha Doppler-effect vehicle ground speed detecting apparatus having means for sensing abnormality of detected ground speed

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3701568A (en) * 1970-09-30 1972-10-31 Bendix Corp Adaptive braking system utilizing doppler radar
DE2618755A1 (en) * 1975-04-30 1976-11-11 Nissan Motor FAULT DETECTING DEVICE FOR A VEHICLE SPEED METER
DE3811727A1 (en) * 1987-04-13 1988-11-03 Volkswagen Ag Device for measuring the circumferential speed of a vehicle wheel
US4893287A (en) * 1987-12-17 1990-01-09 Caterpillar Inc. Velocity reference system
DE4225653A1 (en) * 1991-08-05 1993-02-11 Toyota Motor Co Ltd DOUBLE EFFECT SPEED MEASURING SYSTEM
US5371718A (en) * 1992-04-13 1994-12-06 Toyota Jidosha Kabushiki Kaisha Doppler-effect vehicle ground speed detecting apparatus having means for sensing abnormality of detected ground speed

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002052298A1 (en) * 2000-12-22 2002-07-04 Pirelli Pneumatici S.P.A. System and method for measuring kinematic parameters of a tyre during the running of a vehicle
WO2008031639A1 (en) * 2006-09-12 2008-03-20 Continental Automotive Gmbh Sensor device, method for carrying out driving dynamics regulation and driving dynamics regulation system
DE102020127569B3 (en) 2020-10-20 2022-04-21 C & S GmbH Consulting und Services speed meter

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Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8139 Disposal/non-payment of the annual fee