DE3838536C2 - Anti-lock control system - Google Patents

Anti-lock control system

Info

Publication number
DE3838536C2
DE3838536C2 DE19883838536 DE3838536A DE3838536C2 DE 3838536 C2 DE3838536 C2 DE 3838536C2 DE 19883838536 DE19883838536 DE 19883838536 DE 3838536 A DE3838536 A DE 3838536A DE 3838536 C2 DE3838536 C2 DE 3838536C2
Authority
DE
Germany
Prior art keywords
select
low
control system
lock control
load
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
DE19883838536
Other languages
German (de)
Other versions
DE3838536A1 (en
Inventor
Steffen Dipl Ing Fuchs
Alfred Dipl Ing Sigl
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE19883838536 priority Critical patent/DE3838536C2/en
Publication of DE3838536A1 publication Critical patent/DE3838536A1/en
Application granted granted Critical
Publication of DE3838536C2 publication Critical patent/DE3838536C2/en
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0164—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
    • 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
    • B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
    • 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
    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • 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
    • B60G2800/22—Braking, stopping
    • 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
    • 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
    • B60G2800/91—Suspension Control
    • B60G2800/915—Suspension load distribution
    • 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
    • B60G2800/92—ABS - Brake Control
    • 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
    • B60G2800/93—Skid or slide control [ASR]

Description

Stand der TechnikState of the art

Bei Fahrzeugen mit wechselnder hoher Radlast, wie zum Beispiel Nutzfahrzeuge, werden die Vorderräder häufig individuell und die Hinterräder entweder indivi­ duell oder gemäß select-low (das zuerst Blockierneigung zeigende Rad löst die Regelung aus) geregelt. Zur Vermeidung eines hohen Giermoments bei µ-Split-Be­ dingungen wird in beiden Fällen oft noch eine Giermomentenaufbauverzögerung vorgesehen. Bei dieser wird bekanntlich bei Regelbeginn am einem Rad der Brems­ druck am anderen Rad verzögert aufgebaut; z. B. wird gepulst aufgebaut oder zeit­ weise konstant gehalten und gegebenenfalls kurzzeitig sogar Druck abgebaut.In vehicles with changing high wheel loads, such as commercial vehicles, the front wheels are often individual and the rear wheels are either individual duel or according to select-low (the wheel that shows the first tendency to lock releases the Regulation off) regulated. To avoid a high yaw moment in µ-split loading In both cases, conditions often become a yaw moment build-up delay intended. As is known, this is when the brake starts on a wheel pressure built up on the other wheel with a delay; e.g. B. is built up pulsed or time kept constant and possibly even briefly reduced pressure.

Es sind bei Nutzfahrzeugen auch lastabhängige Bremskraftregler (ALB) bekannt, die in Abhängigkeit von der Last der Hinterachse durch Messen des Einfederwegs das Bremsdruckverhältnis Vorderräder/Hinterräder verändern. Load-dependent brake force regulators (ALB) are also known in commercial vehicles, depending on the load on the rear axle by measuring the spring deflection change the brake pressure ratio front wheels / rear wheels.  

Die EP-A2-0 256 283 zeigt eine Fahrzeugbremsanlage, bei der eine Giermomentenabschwächung in Abhängigkeit von der Last an der Hinterachse in dem Sinne verändert wird, daß das auf einer Fahrbahn mit größerem Haftwert laufende Rad bei hoher Last stärker abgebremst wird als bei niedrigerer Last.EP-A2-0 256 283 shows a vehicle brake system in which a yaw moment weakening depending on the load on the rear axle is changed in the sense that that on a road with a higher grip wheel running at high Load is braked more than with a lower load.

Aus der DE-A1-27 57 911 ist eine gattungsgemäße Blockier­ schutz-Regeleinrichtung bekannt, bei der das Regelverhalten wenigstens zweier Fahrzeugräder von einer Einzelradregelung mit individueller Bremsdrucksteuerung auf eine gemeinsame Bremsdrucksteuerung mit Regelverhalten nach select-low um­ schaltbar ist. Diese Umschaltung geschieht insbesondere be­ ladungsabhängig. Weiterhin ist vorgesehen, den select-low-Be­ trieb zu modifizieren.DE-A1-27 57 911 is a generic blocking protection control device known in which the control behavior at least two vehicle wheels from a single wheel control with individual brake pressure control on a common one Brake pressure control with control behavior according to select-low is switchable. This switchover occurs in particular depending on cargo. The select-low-Be is also provided drive to modify.

Die Aufgabe der vorliegenden Erfindung besteht darin, neben einer beladungsabhängigen Umschaltung nach select-low an einer Achse auch die Giermomentenaufbauverzögerung an der anderen Achse zu berücksichtigen.The object of the present invention is besides a load-dependent switchover to select-low the yaw moment build-up delay on one axis other axis.

Diese Aufgabe wird durch die Merkmale des Anspruchs 1 gelöst. This object is achieved by the features of claim 1 solved.  

Vorteile der ErfindungAdvantages of the invention

Obwohl bei der erfindungsgemäßen Ausbildung des Antiblockierreglers eine Indivi­ dualregelung also die allgemein als ideal angesehene Regelungsart auch an den Hinterrädern möglich ist, verzichtet die Erfindung bei geringer Beladung auf diese Optimalregelung und schaltet eine sonst als weniger günstig angesehene Regelungsart ein. Diese Umschaltung beruht auf der Erkenntnis, daß die Indivi­ dualregelung der Hinterachse zwar bei µ-Split-Bedingungen (also stark unterschied­ licher Reibwert auf den beiden Fahrzeugseiten) und hoher Hinterachslast günstig ist, nicht jedoch bei geringer Last und µ-Split-Bedingungen. Es hat sich viel­ mehr gezeigt, daß bei diesen Bedingungen eine select-low-Regelung in Verbin­ dung mit einer zusätzlichen Umschaltung der Giermomentenaufbauverzögerung ein verbessertes Fahrverhalten liefert. Zur Ableitung des Umschaltsignals für beide Umschaltungen kann der Einfederweg gemessen werden, was z. B. der Sensor eines ALB tut, oder der Druck bei Luftfederung oder Niveauregelung.Although in the embodiment of the anti-lock regulator according to the invention an individual dual control, ie the type of control that is generally regarded as ideal also for the Rear wheels is possible, the invention dispenses with a low load this optimal regulation and switches an otherwise considered less favorable Control type. This switching is based on the knowledge that the Indivi dual control of the rear axle under µ-split conditions (i.e. very different low coefficient of friction on both sides of the vehicle) and high rear axle load is, but not at low load and µ-split conditions. A lot has happened more shown that under these conditions a select-low control in Verbin with an additional switchover of the yaw moment build-up delay provides improved driving behavior. To derive the switching signal for both Switching over the spring deflection can be measured. B. the sensor one ALB does, or the pressure with air suspension or level control.

FigurenbeschreibungFigure description

Anhand der Figur der Zeichnung wird ein Ausführungsbeispiel der Erfindung erläu­ tert.An embodiment of the invention will be explained with reference to the figure of the drawing tert.

In der Zeichnung sind mit 1 und 2 den Vorderrädern zugeordnete Meßwertgeber für die Radgeschwindigkeit bezeichnet. Den Hinterrädern zugeordnete entsprechende Meßwertgeber sind mit 3 und 4 bezeichnet. Die Signale der Meßwertgeber 1 und 2 werden einer zweikanaligen Auswerteschaltung 5 zugeführt, die bei Blockiernei­ gung aus den Signalen der Meßwertgeber 1 und 2 Bremsdrucksteuersignale für die jeweils zugehörige Radbremse ableitet (Individualregelung). Die Art der Regelung (Schlupfregler, Verzögerungsregler, Mischregler usw.) ist für die vorliegende Erfindung unwesentlich. Eine Individualregelung liegt auch noch vor, wenn in der Auswerteschaltung aus den Signalen beider Kanäle Referenzsignale (z. B. der Fahrzeuggeschwindigkeit) für beide Kanäle abgeleitet werden. Die in der Auswerte­ schaltung 5 erzeugten Bremsdrucksteuersignale werden den beiden Radbremsen zuge­ ordnete 3/3-Ventile 6 zugeführt, von denen jedes eine Bremsdruckabsenkstellung, eine Konstanthaltestellung und einen Druckaufbaustellung aufweist. In the drawing, 1 and 2 are assigned to the front wheels of the sensors for the wheel speed. Corresponding transducers assigned to the rear wheels are denoted by 3 and 4 . The signals of the sensors 1 and 2 are fed to a two-channel evaluation circuit 5 which , in the case of blocking, derives brake pressure control signals for the respective wheel brake from the signals of the sensors 1 and 2 (individual control). The type of control (slip controller, deceleration controller, mixing controller, etc.) is immaterial for the present invention. There is also an individual control if reference signals (e.g. vehicle speed) for both channels are derived from the signals of both channels in the evaluation circuit. The brake pressure control signals generated in the evaluation circuit 5 are assigned to the two wheel brakes assigned 3/3 valves 6 , each of which has a brake pressure lowering position, a constant hold position and a pressure build-up position.

Den Hinterrädern ist ein entsprechendes Individualregelsystem zugeordnet, be­ stehend aus den Meßwertgebern 3 und 4, einer zweikanaligen Auswerteschaltung 7a und 7b und Bremsdrucksteuerventilen 8. Die Regelungsart Individualregelung ist dann wirksam, wenn die Hinterachse eine vorgegebene Belastung aufweist. Das Signal zur Einschaltung der Individualregelung wird mit Hilfe eines Sensors 9 und eines Vergleichers 10 gewonnen, die anhand des Einfederwegs oder des Drucks der Federung feststellen, ob die Hinterachse mit einer vorgegebenen Last belastet ist. Ist dies nicht der Fall, so wird auf select-low-Regelung umgeschaltet. Bei dieser Regelungsart wird durch den Block 7c der Druck an beiden Rädern gemeinsam geregelt (über Oder-Gatter 11 eingekoppelt), und zwar durch die Signale das zuerst Blockierneigung zeigenden Rads.A corresponding individual control system is assigned to the rear wheels, consisting of sensors 3 and 4 , a two-channel evaluation circuit 7 a and 7 b and brake pressure control valves 8 . The individual control mode is effective when the rear axle has a specified load. The signal for switching on the individual control is obtained with the aid of a sensor 9 and a comparator 10 , which determine on the basis of the spring deflection or the pressure of the suspension whether the rear axle is loaded with a predetermined load. If this is not the case, the system switches to select-low control. In this type of control, the pressure on both wheels is controlled jointly by block 7 c (coupled in via OR gate 11 ), specifically by means of the signals of the wheel which first shows a tendency to lock.

Zusätzlich kann durch das Signal des Vergleichers 10 auch noch die Giermomenten­ aufbauverzögerung an den Vorderrädern (Leitung 12) umgeschaltet werden derart, daß bei hoher Last und Individualregelung eine stärkere Giermomentenaufbauver­ zögerung wirksam ist.In addition, the yaw moment build-up delay on the front wheels (line 12 ) can be switched by the signal of the comparator 10 such that a stronger yaw moment build-up delay is effective at high load and individual control.

Durch die erfindungsgemäße Ausbildung des Reglers wird bei unterschiedlichen Belastungszuständen eine Optimierung des Bremsweges bei stabilem Fahrzeugver­ halten erzielt.Due to the inventive design of the controller is different Load conditions an optimization of the braking distance with stable vehicle ver keep achieved.

Claims (3)

1. Antiblockierregelsystem für ein Fahrzeug mit wechselnder Hinterachslast, inbesondere für ein Nutzfahrzeug, wobei das Antiblockierregelsystem derart ausgelegt ist, daß der Brems­ druck an allen Rädern individuell regelbar ist und die Rege­ lung an den Hinterrädern auf select-low umschaltbar ist und diese Umschaltung auf select-low erfolgt, wenn eine vorgege­ bene Beladung unterschritten wird und an den Radbremsen der Vorderachse eine Giermomentenauf­ bauverzögerung wirksam ist, dadurch gekennzeichnet, daß mit dem Umschalten auf select-low Regelung an der Hinterachse die Giermomentenauf­ bauverzögerung an der Vorderachse im Sinne einer Ab­ schwächung dieser Giermomentenaufbauverzögerung umgeschaltet wird. 1. Anti-lock control system for a vehicle with changing rear axle load, in particular for a commercial vehicle, the anti-lock control system being designed in such a way that the brake pressure on all wheels can be regulated individually and the regulation on the rear wheels can be switched to select-low and this switchover to select -low takes place when the load falls below a predetermined level and a yaw moment build-up delay is effective on the wheel brakes of the front axle, characterized in that by switching to select-low control on the rear axle, the yaw moment build build-up delay on the front axle in the sense of a weakening thereof Yaw moment build-up delay is switched. 2. Antiblockierregelsystem nach Anspruch 1, dadurch gekennzeichnet, daß das Umschaltsignal auf select-low aus dem Einfederweg des Fahrzeuges durch einen lastabhängigen Meßwertgeber abgeleitet wird.2. Anti-lock control system according to claim 1, characterized in that that the changeover signal to select-low from the travel of the vehicle is derived by a load-dependent sensor. 3. Antiblockierregelsystem nach Anspruch 1, dadurch gekennzeichnet, daß das Umschaltsignal auf select-low aus einer Druckmessung (bei Fahr­ zeugen mit Niveauregelung oder luftgefederten Fahrzeugen) abgeleitet wird.3. Anti-lock control system according to claim 1, characterized in that the switchover signal to select-low from a pressure measurement (when driving testify with level control or air-sprung vehicles) becomes.
DE19883838536 1988-11-14 1988-11-14 Anti-lock control system Expired - Fee Related DE3838536C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19883838536 DE3838536C2 (en) 1988-11-14 1988-11-14 Anti-lock control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19883838536 DE3838536C2 (en) 1988-11-14 1988-11-14 Anti-lock control system

Publications (2)

Publication Number Publication Date
DE3838536A1 DE3838536A1 (en) 1990-05-17
DE3838536C2 true DE3838536C2 (en) 1998-06-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE19883838536 Expired - Fee Related DE3838536C2 (en) 1988-11-14 1988-11-14 Anti-lock control system

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4116373A1 (en) * 1991-05-18 1992-11-19 Teves Gmbh Alfred CIRCUIT ARRANGEMENT FOR CONTROLLING THE BRAKE PRESSURE FOR A BRAKE SYSTEM WITH ANTI-BLOCK CONTROL
DE4340210C1 (en) * 1993-11-25 1995-06-22 Grau Gmbh Anti-lock braking system for vehicles
DE4417935A1 (en) * 1994-05-21 1995-11-23 Teves Gmbh Alfred Circuit arrangement for a brake system with electronic control of the brake force distribution
DE4429494C2 (en) * 1994-08-19 2000-05-31 Bosch Gmbh Robert Anti-lock control system
DE19619381A1 (en) * 1996-05-14 1997-11-20 Wabco Gmbh Yaw moment mitigation method in an anti-lock braking system
DE10355218A1 (en) * 2003-11-26 2005-06-30 Daimlerchrysler Ag Method and device for carrying out a braking process

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2532332A1 (en) * 1975-07-19 1977-02-03 Bosch Gmbh Robert BRAKE SYSTEM WITH A LOAD DEPENDENT BRAKE PRESSURE REGULATOR
DE2757911A1 (en) * 1977-12-24 1979-06-28 Bosch Gmbh Robert BLOCK PROTECTION CONTROL DEVICE
DE2830580A1 (en) * 1978-07-12 1980-02-28 Wabco Fahrzeugbremsen Gmbh METHOD AND DEVICE FOR REGULATING THE BRAKE PRESSURE IN BLOCK-PROTECTED VEHICLE BRAKE SYSTEMS
DE3215614A1 (en) * 1982-04-27 1983-02-03 Anna Dorothea 8000 München Sapunarow-Ryffel Hydraulic single-tube shock absorber with damping control
EP0256283A2 (en) * 1986-08-07 1988-02-24 Robert Bosch Gmbh Vehicle brake installation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2532332A1 (en) * 1975-07-19 1977-02-03 Bosch Gmbh Robert BRAKE SYSTEM WITH A LOAD DEPENDENT BRAKE PRESSURE REGULATOR
DE2757911A1 (en) * 1977-12-24 1979-06-28 Bosch Gmbh Robert BLOCK PROTECTION CONTROL DEVICE
DE2830580A1 (en) * 1978-07-12 1980-02-28 Wabco Fahrzeugbremsen Gmbh METHOD AND DEVICE FOR REGULATING THE BRAKE PRESSURE IN BLOCK-PROTECTED VEHICLE BRAKE SYSTEMS
DE3215614A1 (en) * 1982-04-27 1983-02-03 Anna Dorothea 8000 München Sapunarow-Ryffel Hydraulic single-tube shock absorber with damping control
EP0256283A2 (en) * 1986-08-07 1988-02-24 Robert Bosch Gmbh Vehicle brake installation

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