DE19837373A1 - Locking protection or drive slip control procedure in which rotation direction of wheels or travel direction of vehicle is determined with redefinition of axles in rearwards travel in special mode - Google Patents

Locking protection or drive slip control procedure in which rotation direction of wheels or travel direction of vehicle is determined with redefinition of axles in rearwards travel in special mode

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Publication number
DE19837373A1
DE19837373A1 DE1998137373 DE19837373A DE19837373A1 DE 19837373 A1 DE19837373 A1 DE 19837373A1 DE 1998137373 DE1998137373 DE 1998137373 DE 19837373 A DE19837373 A DE 19837373A DE 19837373 A1 DE19837373 A1 DE 19837373A1
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Germany
Prior art keywords
vehicle
wheels
travel
determined
redefinition
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.)
Granted
Application number
DE1998137373
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German (de)
Other versions
DE19837373B4 (en
Inventor
Gunther Buschmann
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.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Priority to DE1998137373 priority Critical patent/DE19837373B4/en
Publication of DE19837373A1 publication Critical patent/DE19837373A1/en
Application granted granted Critical
Publication of DE19837373B4 publication Critical patent/DE19837373B4/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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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
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • 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
    • B60T2250/042—Reference speed calculation in ASR or under wheel spinning condition

Abstract

A procedure for locking protection and/or drive slip control has the rotation properties of the vehicle wheels determined for individual axles or wheels and evaluated to form a vehicle reference speed and to generate brake pressure or brake force control signals. In the normal case, there is a starting point taken from a forwards journey. Not only the rotational properties (speed, speed change, etc.) but also the rotation direction of the wheels or travel direction of the vehicle are determined. With rearwards travel, there is switching over into a special control mode where the control is matched to the changed travel direction by redefinition of the axles.

Description

Die Erfindung bezieht sich auf Verfahren zur Blockier­ schutz- und/oder Antriebsschlupfregelung (ABS und/oder ASR), bei dem das Drehverhalten der Fahrzeugräder achs- und/oder radindividuell ermittelt und zur Bildung einer Fahrzeugreferenzgeschwindigkeit sowie zur Erzeugung von Bremsdruck- oder Bremskraftregelsignalen ausgewertet wird, wobei im Normalfall von einer Vorwärtsfahrt ausge­ gangen wird.The invention relates to methods for blocking Protection and / or traction control system (ABS and / or ASR), in which the turning behavior of the vehicle wheels axle and / or determined individually for the wheel and to form a Vehicle reference speed and for generating Brake pressure or brake force control signals evaluated is, usually from a forward drive will go.

Der Erfindung liegt die Aufgabe zugrunde, ein solches Verfahren zu entscheidend zu verbessern. Es hat heraus­ gestellt, daß dies mit dem im beigefügten Anspruch 1 geschilderten Verfahren gelingt. Vorteilhafte Ausführ­ ungsbeispiele sind in den Unteransprüchen beschrieben.The invention has for its object such To improve procedures too decisively. It has out that this with the in the appended claim 1 described procedures succeed. Advantageous execution Examples of use are described in the subclaims.

Herkömmliche (in aller Regel passive) Sensoren liefern nur ein absolutes Geschwindigkeitssignal ohne Drehrich­ tungsinformation. Neue (aktive Sensoren) stellen ein Si­ gnal über die Drehrichtung (vorwärts/rückwärts) zur Ver­ fügung. Deliver conventional (usually passive) sensors only an absolute speed signal without turning direction information. New (active sensors) set a Si gnal about the direction of rotation (forward / backward) to ver addition.  

Diese zusätzliche Information ermöglicht die Verbesserung verschiedener Funktionen im Bereich der elektronisch ge­ regelten Bremsensysteme, bzw. die Lösung bestehender Pro­ bleme:This additional information enables improvement various functions in the field of electronic ge regulated brake systems, or the solution of existing pro bleme:

1. ABS1. ABS

Problem: Bei Rückwärtsbremsungen kommt es bisher zu man­ gelnder Bremsleistung und unzureichender Stabilität. Ur­ sachen hierfür sind, daß (1.) die bei Rückwärtsfahrt stärker dynamisch belastete Hinterachse nach dem select low-Prinzip geregelt wird und damit die maximal mögliche Bremskraft nicht voll ausgeschöpft wird und (2.) die dy­ namisch entlastete Vorderachse individuell geregelt wird, was zu einer Reduzierung der Seitenkraft führt. Wegen des für die Stabilität erforderlichen Überschusses an Seiten­ führungskraft wird üblicherweise an der Hinterachse nach select low geregelt, bei Rückwärtsfahrt verkehrt sich dieser Zustand. Die wegen der dann hinten befindlichen Lenkung besonders hohe erforderliche Seitenführungskraft kann wegen der individuellen Bremsdruckoptimierung nicht zur Verfügung gestellt werden, was zu massiver Instabili­ tät führen kann.Problem: So far there have been maneuvers in reverse braking braking performance and insufficient stability. Great The reasons for this are that (1.) when reversing more dynamic rear axle after the select low principle is regulated and thus the maximum possible Braking power is not fully used and (2.) the dy Namely relieved front axle is regulated individually, which leads to a reduction in lateral force. Because of the excess sides required for stability Leadership is usually followed on the rear axle select low regulated, reverses when reversing this state. The one because of the one in the back Steering particularly high cornering force required cannot because of the individual brake pressure optimization be made available, causing massive instability action can lead.

Lösung: Mit Hilfe der Drehrichtungsinformation kann eine "Umdefinition" der Achsen erfolgen. D. h. die Vorderachse wird zur Hinterachse und damit nach select low geregelt, um die nötigen Seitenführungskräfte aufbauen zu können; die Hinterachse wird zur Vorderachse und radindividuell geregelt, um die maximale Bremsleistung zu erreichen.Solution: With the help of the direction of rotation information Axes are "redefined". That is, the front axle is regulated to the rear axle and thus according to select low,  in order to build up the necessary cornering forces; the rear axle becomes the front axle and individual to the wheel regulated to achieve the maximum braking power.

2. BASR2. BASR

Problem 1: Beim Anfahren auf einer Steigung kommt es gelegentlich zu einem Zurückrollen des Fahrzeuges vor oder trotz des BASR-Eingriffs. Die nichtangetriebene Ach­ se liefert dann ein Geschwindigkeitssignal, das wegen der fehlenden Richtungsinformation als "vorwärts" interpre­ tiert werden muß. Die aus diesem Signal abgeleitete Refe­ renzgeschwindigkeit ist falsch. Das führt zu der Annahme, daß das Fahrzeug beschleunigt, die Traktion und damit die Wirksamkeit der Regelung gut sei, was nicht der Fall ist, und zu einer schlechteren Regelgüte, da der eingestellte Schlupf zu hoch liegt.Problem 1: When starting on an incline, it happens occasionally rolling back of the vehicle or despite the BASR intervention. The non-powered oh se then supplies a speed signal which, because of the missing direction information as "forward" interpr must be tiert. The Refe derived from this signal speed limit is wrong. This leads to the assumption that the vehicle accelerates, the traction and thus the Effectiveness of the scheme is good, which is not the case and a poorer control quality, since the set Slip is too high.

Lösung 1Solution 1

  • a) Bei Kenntnis der Drehrichtung kann die Referenz­ geschwindigkeit mit einer Drehrichtungsinformation (Vor­ zeichen) belegt werden. Die Regelung basiert dann immer auf einem Richtigen Referenzwert, was zu einer deutlichen Verbesserung der Traktion führt. a) If the direction of rotation is known, the reference speed with direction of rotation information (forward characters). The regulation is then always based on a correct reference value, resulting in a clear Leads to improved traction.  
  • b) Bei erkanntem Zurückrollen (resp. Rollen in die gegen­ sätzliche Richtung zu den durchdrehenden angetriebenen Rädern) kann in die nicht angetriebenen Räder aktiv ein­ gebremst werden. Dazu ist eine HCU erforderlich, die an allen Rädern individuell Druck aufbauen kann, z. B. eine ESP HCU. Damit wird eine ungewollte Beschleunigung des Fahrzeuges in die der gewünschten Fahrtrichtung entgegen­ gesetzte Richtung verhindert. Gleichzeitig wird das Mo­ tormoment erhöht, um ein für das Anfahren ausreichendes Moment zu erhalten. Nach entsprechendem Druckaufbau in der Bremse des durchdrehenden Rades, steht dann genügend Vortriebskraft auf der gegenüberliegenden Seite zur Ver­ fügung, um das Fahrzeug gegen den Hangabtrieb zu be­ schleunigen, so daß der zusätzliche Bremsdruck an der nichtangetriebenen Achse wieder abgebaut werden kann. Ein Zurückrollen wegen zu langsamen Druckaufbaus oder zu ge­ ringen Motormomentes wird dadurch wirkungsvoll vermieden.b) If roll back is recognized (or roll in the opposite additional direction to the spinning driven Wheels) can actively enter the non-driven wheels be braked. This requires an HCU that is on can build pressure individually on all wheels, e.g. Legs ESP HCU. This will result in an unwanted acceleration of the Vehicle in the opposite direction of travel set direction prevented. At the same time the Mo Torque increased to a sufficient for starting Moment. After appropriate pressure build-up in the brake of the spinning wheel is then sufficient Driving force on the opposite side to ver to prevent the vehicle from being driven downhill accelerate so that the additional brake pressure on the non-driven axle can be dismantled. On Roll back because of too slow pressure build-up or too ge wrestling engine torque is effectively avoided.

Problem 2: Szenario: Bei z. B. vorwärts bergab rollendem Fahrzeug wird versucht, rückwärts zu fahren. Die An­ triebsräder ändern ihre Drehrichtung, was bei der Verwen­ dung "alter" Sensoren als Bremsschlupf interpretiert wird, da der Nulldurchgang des Geschwindigkeitssignales wegen des fehlenden Vorzeichens (Drehrichtung) nicht als Beschleunigung in der gewünschten Richtung, sondern als Geschwindigkeitsabnahme erkannt wird. Es kommt infolge dessen zu einem ABS-Regelungseingriff, der die ASR und BASR-Funktion verhindert (Sicherheitskonzept: Bremsen hat Vorrang vor Beschleunigen). Erst nach Überschreiten des Referenzgeschwindigkeitsbetrages in der anderen Drehrich­ tung kann die Regelung wieder aktiv werden.Problem 2: Scenario: With e.g. B. rolling downhill forward Vehicle is attempting to reverse. The An Driving wheels change their direction of rotation, which when used "old" sensors interpreted as brake slip is because the zero crossing of the speed signal because of the missing sign (direction of rotation) not as Acceleration in the desired direction, rather than Decrease in speed is detected. It comes as a result of an ABS control intervention that the ASR and  BASR function prevented (safety concept: braking has Priority over acceleration). Only after exceeding the Reference speed amount in the other rotary direction the control can be reactivated.

Lösung 2: Bei Kenntnis der Drehrichtung kann die ASR/BASR-Regelung schon unmittelbar nach Erkennen der Drehrichtungsumkehr eingeleitet werden und so die Trak­ tion früher gesteigert werden.Solution 2: If you know the direction of rotation, the ASR / BASR control immediately after detection of the Reversal of rotation can be initiated and so the Trak tion can be increased earlier.

Claims (4)

1. Verfahren zur Blockierschutz- und/oder Antriebs­ schlupfregelung (ABS und/oder ASR), bei dem das Dreh­ verhalten der Fahrzeugräder achs- und/oder radindi­ viduell ermittelt und zur Bildung einer Fahrzeugrefe­ renzgeschwindigkeit sowie zur Erzeugung von Bremsdruck- oder Bremskraftregelsignalen ausgewertet wird, wobei im Normalfall von einer Vorwärtsfahrt ausgegangen wird, dadurch gekennzeichnet, daß sowohl das Drehverhalten (Geschwindigkeit, Geschwindigkeits­ änderung etc.) als auch die Drehrichtung der Räder bzw. Fahrtrichtung des Fahrzeugs ermittelt werden und daß bei Rückwärtsfahrt in einen Sonder-Regelmodus umgeschaltet wird, bei dem die Regelung durch Umde­ finition der Achsen der geänderten Fahrtrichtung an­ gepaßt wird.1. A method for anti-lock and / or traction control (ABS and / or ASR), in which the rotational behavior of the vehicle wheels axially and / or radindi vidually determined and evaluated to form a vehicle reference speed and to generate brake pressure or brake force control signals , whereby in the normal case a forward drive is assumed, characterized in that both the turning behavior (speed, speed change, etc.) and the direction of rotation of the wheels or the direction of travel of the vehicle are determined, and that a switch is made to a special control mode when reversing, in which the regulation is adjusted by redefining the axes of the changed direction of travel. 2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß im Normalfall die Vorderräder individuell und die Hinterräder nach dem Auswahlprinzip select-low, da­ gegen im Sonder-Regelmodus die Vorderräder nach select-low, die Hinterräder individuell geregelt wer­ den. 2. The method according to claim 1, characterized in that that normally the front wheels individually and the Rear wheels according to the selection principle select-low, because against the front wheels in the special control mode select-low, the rear wheels individually controlled the.   3. Verfahren nach Anspruch 1 oder 2, dadurch gekenn­ zeichnet, daß die Umdefinition der Achsen auch die Bildung der Fahrzeugreferenzgeschwindigkeit beein­ flußt.3. The method according to claim 1 or 2, characterized shows that the redefinition of the axes also the Formation of the vehicle reference speed flows. 4. Verfahren nach einem oder mehreren der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß bei einem Zurück­ rollen des Fahrzeugs während eines BASR-Eingriffs (BASR = ASR durch Bremseneingriff) aktiv eingebremst wird und/oder das Motormoment erhöht wird.4. The method according to one or more of claims 1 to 3, characterized in that with a return roll the vehicle during a BASR procedure (BASR = ASR due to brake intervention) actively braked and / or the engine torque is increased.
DE1998137373 1998-08-18 1998-08-18 Method for anti-lock and / or traction slip control Expired - Fee Related DE19837373B4 (en)

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Application Number Priority Date Filing Date Title
DE1998137373 DE19837373B4 (en) 1998-08-18 1998-08-18 Method for anti-lock and / or traction slip control

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005009814A1 (en) * 2003-07-29 2005-02-03 Toyota Jidosha Kabushiki Kaisha Vehicle and control method of vehicle slip-down velocity
WO2010051869A1 (en) * 2008-11-08 2010-05-14 Wabco Gmbh Method for determining a travel direction and control device for a vehicle system
US20210261103A1 (en) * 2018-07-19 2021-08-26 Robert Bosch Gmbh Driver Assistance Method in which a Vehicle Performs a Driving Manoeuvre Automatically, and Closed-Loop and Open-Loop Control Device for a Braking Device of a Vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3829024A1 (en) * 1987-08-28 1989-03-09 Akebono Brake Ind Starting aid for supporting a vehicle which is starting on a positive gradient
DE3942547A1 (en) * 1989-12-22 1991-06-27 Iveco Magirus Vehicle ABS or ASR physical value measuring - by using fibre=optic sensor subjected to magnetic field to use its Faraday effect
DE4104902A1 (en) * 1991-02-18 1992-08-20 Swf Auto Electric Gmbh METHOD AND ARRANGEMENT FOR DETECTING A DIRECTION OF MOVEMENT, IN PARTICULAR A DIRECTION OF DIRECTION

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3829024A1 (en) * 1987-08-28 1989-03-09 Akebono Brake Ind Starting aid for supporting a vehicle which is starting on a positive gradient
DE3942547A1 (en) * 1989-12-22 1991-06-27 Iveco Magirus Vehicle ABS or ASR physical value measuring - by using fibre=optic sensor subjected to magnetic field to use its Faraday effect
DE4104902A1 (en) * 1991-02-18 1992-08-20 Swf Auto Electric Gmbh METHOD AND ARRANGEMENT FOR DETECTING A DIRECTION OF MOVEMENT, IN PARTICULAR A DIRECTION OF DIRECTION

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Aktiver Radgeschwindigkeitssensor mit Encoder-Radlager. In: Automobil Revue, Nr.20 v. 8. Mai 1997, S.31 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005009814A1 (en) * 2003-07-29 2005-02-03 Toyota Jidosha Kabushiki Kaisha Vehicle and control method of vehicle slip-down velocity
CN100417557C (en) * 2003-07-29 2008-09-10 丰田自动车株式会社 Vehicle and control method of vehicle slip-down velocity
US7828394B2 (en) 2003-07-29 2010-11-09 Toyota Jidosha Kabushiki Kaisha Vehicle and control method of vehicle slip-down velocity
WO2010051869A1 (en) * 2008-11-08 2010-05-14 Wabco Gmbh Method for determining a travel direction and control device for a vehicle system
US20210261103A1 (en) * 2018-07-19 2021-08-26 Robert Bosch Gmbh Driver Assistance Method in which a Vehicle Performs a Driving Manoeuvre Automatically, and Closed-Loop and Open-Loop Control Device for a Braking Device of a Vehicle

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Effective date: 20140301