DE3939069A1 - Motor vehicle with rear-wheel slip correction device - has brake applied to driven wheel on outside of curve while inside wheel accelerates to restore stability - Google Patents

Motor vehicle with rear-wheel slip correction device - has brake applied to driven wheel on outside of curve while inside wheel accelerates to restore stability

Info

Publication number
DE3939069A1
DE3939069A1 DE19893939069 DE3939069A DE3939069A1 DE 3939069 A1 DE3939069 A1 DE 3939069A1 DE 19893939069 DE19893939069 DE 19893939069 DE 3939069 A DE3939069 A DE 3939069A DE 3939069 A1 DE3939069 A1 DE 3939069A1
Authority
DE
Germany
Prior art keywords
wheel
curve
brake
outside
motor vehicle
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
DE19893939069
Other languages
German (de)
Other versions
DE3939069C2 (en
Inventor
Uwe Dipl Ing Rapp
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 DE19893939069 priority Critical patent/DE3939069C2/en
Publication of DE3939069A1 publication Critical patent/DE3939069A1/en
Application granted granted Critical
Publication of DE3939069C2 publication Critical patent/DE3939069C2/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
    • B60T8/175—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
    • B60T8/1755—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
    • 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
    • B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—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 having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • 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
    • B60T2270/30—ESP control system
    • B60T2270/303—Stability control with active acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)

Abstract

The brakes (10) of the driven wheels are controlled by valves (6,7) connected to a processor (5) of signals from individual wheel reovlution counters (1-4). Its outputs are OR-gated (8) with those of generators (17,18) of pulses of definite length triggered by logic (12,15,16) operating on steering and braking signals (13,14). The outer rear wheel is braked and the inner rear wheel is accelerated correspondingly to increase the lateral guidance force. USE/ADVANTAGE - Esp. in conjunction with automatic wheelslip control. Roadholding around curves with throttle closed is improved without recourse to complex and costly lockable differential.

Description

Stand der TechnikState of the art

Ein Kraftfahrzeug mit den Merkmalen des Oberbegriffs des Anspruchs 1 ist z. B. aus der DE-OS 21 39 230 bekannt. Dort wird ein Motorschleppmomentenregler be­ schrieben, der einen durch den Motor (ohne Bremsbetätigung) erzeugten Brems­ schlupf erkennt und ein Stellsignal erzeugt. Dieses wird dazu benutzt, die Bremsmittelzufuhr zum Motor zur Beseitigung des Bremsschlupfs zu erhöhen.A motor vehicle with the features of the preamble of claim 1 is such. B. known from DE-OS 21 39 230. There an engine drag torque controller will be wrote of a brake generated by the engine (without brake application) detects slip and generates a control signal. This is used for the Increase brake fluid supply to the engine to eliminate brake slip.

Daneben sind z. B. aus der DE-OS 32 34 282 Antriebsschlupfregelsysteme bekannt, bei denen eine Kurvenerkennungseinrichtung (Lenkwinkelsensor) verwendet wird.In addition, z. B. from DE-OS 32 34 282 traction control systems known where a curve detection device (steering angle sensor) is used.

Vorteile der ErfindungAdvantages of the invention

Bei sogenannten Lastwechseln, d. h., dem Loslassen des Gaspedals des Fahrzeugs und dies in der Kurve laufen die Hinterräder z. B. von heckgetriebenen Fahrzeu­ gen, vornehmlich das kurveninnere Rad, in Schlupf und vermindern somit die Sei­ tenführung der Achse, wodurch das Fahrzeug (bei hoher Querbeschleunigung) in­ stabil wird und zum Eindrehen bringt.With so-called load changes, i.e. that is, releasing the accelerator pedal of the vehicle and this in the curve the rear wheels run z. B. of rear-wheel drive vehicles conditions, primarily the wheel on the inside of the curve, in slip and thus reduce the screen guidance of the axle, whereby the vehicle (at high lateral acceleration) in becomes stable and turns it.

Durch gezieltes Aufbringen von Druck auf die Hinterradbremsen, insbesondere auf die Bremse des kurvenäußeren Rads kann, da das Bremsmoment am kurvenäußeren Rad antreibend auf das kurveninnere Rad wirkt, dessen Bremsschlupf erniedrigt und damit eine Erhöhung der Seitenführung erreicht werden. Zusätzlich bewirkt eine Bremskraft am kurvenäußeren Hinterrad ein Giermoment, welches dem Eindrehen entgegenwirkt. By specifically applying pressure to the rear brakes, especially on the brake of the outside wheel can, since the braking torque on the outside wheel has a driving effect on the wheel on the inside of the curve, whose brake slip lowers and thus an increase in the lateral guidance can be achieved. In addition, a Braking force on the outside rear wheel a yaw moment, which the turning counteracts.  

Dies gilt für alle angetriebenen Achsen, wobei bei frontgetriebenen Fahrzeugen kein Eindrehen, sondern ein tangentiales Verlassen der Kurvenbahn erfolgt.This applies to all driven axles, with front-wheel drive vehicles no turning in, but a tangential exit from the cam track.

Bei frontgetriebenen Fahrzeugen besteht keine Koppelung der Hinterräder über ein Ausgleichsgetriebe; trotzdem treten ähnliche Lastwechselreaktionen wie beim heck- und allradgetriebenen Fahrzeug durch dynamische Radlaständerung (Nicken, Wanken des Fahrzeugs) auf.In front-wheel drive vehicles there is no coupling of the rear wheels a differential gear; nevertheless, similar load change reactions occur for rear-wheel drive and all-wheel drive vehicles due to dynamic wheel load changes (Nodding, swaying the vehicle).

In der EP-A2 02 88 665 wird vorgeschlagen, das Eindrehen durch ein steuerbares Sperrdifferential zu vermeiden.EP-A2 02 88 665 proposes screwing in by a controllable one Avoid limited slip differential.

Der Unterschied hierzu besteht darin, die Verwendung eines aufwendigen und teuren sperrbaren Differentials zu vermeiden, da mit der ohnehin vorhandenen Radbremse der gleiche Effekt erreicht wird.The difference is the use of an elaborate and to avoid expensive lockable differentials, since with the already existing Wheel brake the same effect is achieved.

Der Einsatz der Erfindung ist bei dem Vorhandensein eines ASR deshalb besonders günstig, weil der Druckerzeuger, die Ventile und die Sensoren mit verwendet werden können.The use of the invention is therefore special when an ASR is present cheap because the pressure generator, the valves and the sensors are also used can be.

Für die Erkennung des Eindrehens gibt es verschiedene Möglichkeiten:There are various options for the detection of screwing in:

  • a) über die Auswertung der Raddrehzahlena) via the evaluation of the wheel speeds
  • b) zusätzlich über ein Sensieren der Gierbewegung mittels eines Giersensors oder Beschleunigungssensoren außerhalb des Fahrzeugschwerpunktes und/oder eines Lenkwinkelsensorsb) additionally by sensing the yaw movement by means of a yaw sensor or acceleration sensors outside the vehicle's center of gravity and / or a steering angle sensor
FigurenbeschreibungFigure description

Anhand der Zeichnung wird ein Ausführungsbeispiel der Erfindung erläutert. Es zeigtAn embodiment of the invention will be explained with reference to the drawing. It shows

Fig. 1 ein Blockschaltbild eines Ausführungsbeispiels, Fig. 1 is a block diagram of an embodiment

Fig. 2-4 das durch Simulation ermittelte Verhalten des Fahrzeugs in der Kurve bei unterschiedlichen Voraussetzungen. Fig. 2-4 the behavior of the vehicle determined by simulation in the curve under different conditions.

In Fig. 1 sind mit 1 bis 4 den Rädern eines Fahrzeugs zugeordnete Radgeschwin­ digkeitssensoren bezeichnet, deren Signale einer Auswerteschaltung 5 zugeführt werden. Diese ermittelt aus den Radgeschwindigkeitssignalen von angetriebenen und nicht angetriebenen Rädern den an den einzelnen angetriebenen Rädern vor­ handenen Antriebsschlupf, mittels dem der Bremsdruck an den einzelnen Rädern mittels Bremsdrucksteuerventilen 6/6a und 7/7a eingesteuert und variiert wird. Eine Bremsdruckquelle ist mit 9, die Radbremsen der angetriebenen Räder mit 10 bezeichnet. Es kann auch noch ein Stellglied 11 zur Beeinflussung des Motormo­ ments angesteuert werden, z. B. dann, wenn beide Räder Antriebsschlupf aufweisen.In Fig. 1 with 1 to 4 the wheels of a vehicle assigned Radgeschwin speed sensors are designated, the signals of which are fed to an evaluation circuit 5 . From the wheel speed signals from driven and non-driven wheels, this determines the drive slip present on the individual driven wheels, by means of which the brake pressure on the individual wheels is controlled and varied by means of brake pressure control valves 6/6 a and 7/7 a. A brake pressure source is 9 , the wheel brakes of the driven wheels 10 . It can also be controlled an actuator 11 to influence the engine torque, z. B. when both wheels have traction.

Beim erfindungsgemäßen Ausführungsbeispiel wird in der Auswerteschaltung 5 der Bremsschlupf aus den Geschwindigkeiten der angetriebenen und nicht angetriebenen Räder ermittelt. Zeigen beide Hinterräder Bremsschlupf, so wird dies über ein Und-Gatter 12 erkannt, an das zwei den Radschlupf am einzelnen angetriebenen Rad angezeigende Ausgangsleitungen der Auswerteschaltung 5 angeschaltet sind. Außerdem ist ein Lenkwinkelgeber 13 vorgesehen, der bei Lenkwinkeleinschlag in die eine oder andere Richtung ein Signal auf der einen oder anderen Ausgangs­ leitung 13a oder 13b abgibt. An der Klemme 14 liegt ein Signal an, wenn gebremst wird. Fährt nun das Fahrzeug durch eine Kurve mit wenigstens einem bestimmten Lenkeinschlag, tritt außerdem an beiden angetriebenen Rädern Radschlupf oberhalb einer Schwelle auf und wird nicht gebremst, so wird eines der Und-Gatter 15 oder 16 durchlässig, wodurch ein Impulsgeber 17 oder 18 angesteuert wird. Dieser gibt über eines der Oder-Gatter 8 einen Impuls bestimmter Länge auf eines der Ventile 6 oder 7, wodurch ein bestimmter Bremsdruck an der Bremse des kurvenäußeren Rads eingesteuert wird. Hierdurch wird das Bremsmoment dieses Rads weiter erhöht und damit seine Geschwindigkeit erniedrigt. Dieses bewirkt eine Erhöhung der Radge­ schwindigkeit des langsameren kurveninneren Rads, wodurch die Seitenführungs­ kraft erhöht wird.In the exemplary embodiment according to the invention, the brake slip is determined in the evaluation circuit 5 from the speeds of the driven and non-driven wheels. If both rear wheels show brake slip, this is recognized by an AND gate 12 to which two output lines of the evaluation circuit 5, which indicate the wheel slip on the individually driven wheel, are connected. In addition, a steering angle sensor 13 is provided, which emits a signal on one or the other output line 13 a or 13 b when the steering angle is in one direction or the other. A signal is present at terminal 14 when the brakes are applied. If the vehicle now travels through a curve with at least one specific steering angle, wheel slip occurs above a threshold on both driven wheels and is not braked, then one of the AND gates 15 or 16 becomes permeable, as a result of which a pulse generator 17 or 18 is activated. This gives a pulse of a certain length to one of the valves 6 or 7 via one of the OR gates 8 , as a result of which a certain brake pressure is applied to the brake of the wheel on the outside of the curve. As a result, the braking torque of this wheel is further increased and thus its speed is reduced. This causes an increase in the wheel speed of the slower wheel on the inside of the curve, which increases the cornering force.

Es wurde die gezielte Druckbeaufschlagung des kurvenäußeren Hinterrades per Simulation nachgebildet. Die Simulation wurde für ein heckgetriebenes Fahrzeug durchgeführt.It was the targeted pressurization of the outside rear wheel by Simulation simulated. The simulation was for a rear-wheel drive vehicle carried out.

Fig. 2 zeigt den Verlauf der Bahnkurve 20 und das Eindrehen des Fahrzeugs 21 ohne jeglichen Bremseneingriff: Das Fahrzeug dreht aufgrund des Motorschleppmo­ mentes sehr stark ein. Fig. 2 shows the course of the trajectory 20 and the turning in of the vehicle 21 without any brake intervention: The vehicle turns very strong due to the engine drag torque.

In Fig. 3 ist der qualitativ gleiche Verlauf des Eindrehvorgangs durch eine Druckbeaufschlagung der Bremse des kurvenäußeren Hinterrads von p = 50 bar merklich abgeschwächt.In Fig. 3 the qualitatively identical course of the screwing-in process is noticeably weakened by pressurizing the brake of the rear wheel on the outside of the curve by p = 50 bar.

In Fig. 4 wird dieser unerwünschte Fahrzustand durch die Bremsung des kurven­ äußeren Rads mit p = 100 bar vollständig eliminiert. Das Fahrzeug bleibt absolut stabil; die Abweichung des Fahrzeugs von der Sollkurve nach kurvenaußen könnte durch einen hier nicht vorgesehenen Lenkeingriff des Fahrers leicht kompensiert werden.In Fig. 4 this undesirable driving condition is completely eliminated by braking the curved outer wheel with p = 100 bar. The vehicle remains absolutely stable; the deviation of the vehicle from the target curve to the outside of the curve could easily be compensated for by driver intervention, which is not provided here.

Claims (2)

1. Kraftfahrzeug, bei dem bei Auftreten eines vorgegebenen Brems- und/oder Seitenschlupfes an den Hinterrädern ohne Bremsbetätigung ein Signal erzeugt wird, dadurch gekennzeichnet, daß eine Kurvenerkennungseinrichtung vorgesehen ist, die das Befahren einer Kurve und die Art der Kurve (Rechtslinkskurve) erkennt und entsprechende Signale erzeugt, und daß bei Erkennen einer Kurve und eines Brems- und/oder Seitenschlupfs an den Rädern ohne Bremsbetätigung Bremsdruck an der Hinterachse, vorzugsweise nur an der Bremse des kurven­ äußeren Rades eingesteuert wird.1. Motor vehicle in which a signal is generated when a predetermined braking and / or side slip occurs on the rear wheels without brake actuation, characterized in that a curve detection device is provided which detects when cornering and the type of curve (right-left curve) and Corresponding signals are generated and that when a curve and a brake and / or side slip are detected on the wheels without brake actuation, brake pressure on the rear axle, preferably only on the brake of the curved outer wheel, is activated. 2. Kraftfahrzeug nach Anspruch 1, dadurch gekennzeichnet, daß es auch mit einem Antriebsschlupfregelsystem ausgerüstet ist.2. Motor vehicle according to claim 1, characterized in that it is also with a Traction control system is equipped.
DE19893939069 1989-11-25 1989-11-25 motor vehicle Expired - Fee Related DE3939069C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19893939069 DE3939069C2 (en) 1989-11-25 1989-11-25 motor vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19893939069 DE3939069C2 (en) 1989-11-25 1989-11-25 motor vehicle

Publications (2)

Publication Number Publication Date
DE3939069A1 true DE3939069A1 (en) 1991-05-29
DE3939069C2 DE3939069C2 (en) 2002-07-04

Family

ID=6394208

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19893939069 Expired - Fee Related DE3939069C2 (en) 1989-11-25 1989-11-25 motor vehicle

Country Status (1)

Country Link
DE (1) DE3939069C2 (en)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19522632A1 (en) * 1995-06-22 1997-01-02 Teves Gmbh Alfred Process for improving the control behavior of an anti-lock control system
DE19703668A1 (en) * 1996-02-02 1997-08-07 Aisin Seiki Ride stability control system for wheeled vehicle esp for negotiating curved road sections
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
US5701248A (en) 1994-11-25 1997-12-23 Itt Automotive Europe Gmbh Process for controlling the driving stability with the king pin inclination difference as the controlled variable
US5711024A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for controlling yaw moment based on an estimated coefficient of friction
US5710705A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh Method for determining an additional yawing moment based on side slip angle velocity
US5711025A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh Driving stability control system with selective brake actuation
US5710704A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for driving stability control during travel through a curve
US5732377A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters
US5732379A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Brake system for a motor vehicle with yaw moment control
US5732378A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Method for determining a wheel brake pressure
DE19641429A1 (en) * 1996-10-08 1998-04-09 Bayerische Motoren Werke Ag Drive slip control system for motor vehicle with brake engagement on driven wheels
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
WO1998023472A1 (en) * 1996-11-26 1998-06-04 Continental Teves Ag & Co. Ohg Process and device to improve the regulating action of an anti-lock braking system
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
DE19732998A1 (en) * 1997-07-31 1999-02-04 Itt Mfg Enterprises Inc Method and device for detecting a braking situation
WO1999007588A1 (en) * 1997-08-04 1999-02-18 Continental Teves Ag & Co. Ohg Method for increasing the driving stability of a vehicle
DE19712827B4 (en) * 1996-04-02 2006-05-04 Toyota Jidosha K.K., Toyota Stability control device of a vehicle for relieving the drive wheels from side slipping
DE19841108B4 (en) * 1997-09-18 2007-12-20 Honda Giken Kogyo K.K. Driving stability control device for a vehicle
EP1488974A3 (en) * 2003-06-18 2009-12-23 Denso Corporation Drive control system and method for detecting vehicle instability
US20120173111A1 (en) * 2009-09-18 2012-07-05 Advics Co., Ltd. Vehicle behavior control device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008009153A1 (en) 2008-02-14 2009-08-20 Robert Bosch Gmbh Method for stabilizing a motor vehicle during and after load change processes by lowering an activation threshold of the ESP and device for stabilizing a motor vehicle during load change operations

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1902944A1 (en) * 1969-01-22 1970-08-20 Porsche Kg Device on vehicles, in particular motor vehicles, for preventing skidding
DE2139230A1 (en) * 1971-08-05 1973-02-15 Teldix Gmbh ARRANGEMENT FOR SELF-INFLUENCING THE ENGINE TORQUE OF A VEHICLE
DE3234282A1 (en) * 1982-09-16 1984-03-22 Robert Bosch Gmbh, 7000 Stuttgart Device for controlling the speeds of the driven wheels of a motor vehicle
DE3413738A1 (en) * 1984-04-12 1985-10-17 Alfred Teves Gmbh, 6000 Frankfurt SLIP-CONTROLLED BRAKE SYSTEM FOR ROAD VEHICLES
DE3625392A1 (en) * 1986-02-13 1987-08-20 Licentia Gmbh Control system for preventing skidding movements of a motor vehicle
DE3606797A1 (en) * 1986-03-01 1987-09-10 Bosch Gmbh Robert CONTROL SYSTEM FOR THE VEHICLE SPEED OF A ROAD VEHICLE
EP0288665A2 (en) * 1987-04-29 1988-11-02 Dr.Ing.h.c. F. Porsche Aktiengesellschaft Arrangement for controlling the power transmission in a motor vehicle
DE3719821A1 (en) * 1987-06-13 1988-12-29 Walter Rebholz BRAKE SYSTEM FOR A STEERABLE, TWO OR MULTI-AXLE, AT LEAST REAR REAR MOTOR VEHICLE
US4809181A (en) * 1984-05-21 1989-02-28 Nissan Motor Company, Limited Automotive yaw-sensitive brake control system
DE3731756A1 (en) * 1987-09-22 1989-03-30 Bosch Gmbh Robert METHOD FOR REGULATING THE DRIVING STABILITY OF A VEHICLE
DE3737697A1 (en) * 1987-11-06 1989-05-18 Bayerische Motoren Werke Ag Method for controlling an internal combustion engine of a motor vehicle
DE3919347A1 (en) * 1988-06-15 1990-02-15 Aisin Seiki Vehicle movement control method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3545715A1 (en) * 1985-12-21 1987-07-02 Daimler Benz Ag DEVICE FOR CONTROLLING THE DRIVE IN MOTOR VEHICLES

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1902944A1 (en) * 1969-01-22 1970-08-20 Porsche Kg Device on vehicles, in particular motor vehicles, for preventing skidding
DE2139230A1 (en) * 1971-08-05 1973-02-15 Teldix Gmbh ARRANGEMENT FOR SELF-INFLUENCING THE ENGINE TORQUE OF A VEHICLE
DE3234282A1 (en) * 1982-09-16 1984-03-22 Robert Bosch Gmbh, 7000 Stuttgart Device for controlling the speeds of the driven wheels of a motor vehicle
DE3413738A1 (en) * 1984-04-12 1985-10-17 Alfred Teves Gmbh, 6000 Frankfurt SLIP-CONTROLLED BRAKE SYSTEM FOR ROAD VEHICLES
US4809181A (en) * 1984-05-21 1989-02-28 Nissan Motor Company, Limited Automotive yaw-sensitive brake control system
DE3625392A1 (en) * 1986-02-13 1987-08-20 Licentia Gmbh Control system for preventing skidding movements of a motor vehicle
DE3606797A1 (en) * 1986-03-01 1987-09-10 Bosch Gmbh Robert CONTROL SYSTEM FOR THE VEHICLE SPEED OF A ROAD VEHICLE
EP0288665A2 (en) * 1987-04-29 1988-11-02 Dr.Ing.h.c. F. Porsche Aktiengesellschaft Arrangement for controlling the power transmission in a motor vehicle
DE3719821A1 (en) * 1987-06-13 1988-12-29 Walter Rebholz BRAKE SYSTEM FOR A STEERABLE, TWO OR MULTI-AXLE, AT LEAST REAR REAR MOTOR VEHICLE
DE3731756A1 (en) * 1987-09-22 1989-03-30 Bosch Gmbh Robert METHOD FOR REGULATING THE DRIVING STABILITY OF A VEHICLE
DE3737697A1 (en) * 1987-11-06 1989-05-18 Bayerische Motoren Werke Ag Method for controlling an internal combustion engine of a motor vehicle
DE3919347A1 (en) * 1988-06-15 1990-02-15 Aisin Seiki Vehicle movement control method

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
US5711025A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh Driving stability control system with selective brake actuation
US5862503A (en) 1994-11-25 1999-01-19 Itt Automotive Europe Gmbh System for driving stability control
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
US5701248A (en) 1994-11-25 1997-12-23 Itt Automotive Europe Gmbh Process for controlling the driving stability with the king pin inclination difference as the controlled variable
US5711024A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for controlling yaw moment based on an estimated coefficient of friction
US5710705A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh Method for determining an additional yawing moment based on side slip angle velocity
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
US5710704A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for driving stability control during travel through a curve
US5711023A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for determining side slip angle
US5732377A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters
US5732379A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Brake system for a motor vehicle with yaw moment control
US5732378A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Method for determining a wheel brake pressure
US6012010A (en) * 1995-06-22 2000-01-04 Itt Manufacturing Enterprises Inc. Process for improving the regulating behavior of an anti-lock systems
DE19522632A1 (en) * 1995-06-22 1997-01-02 Teves Gmbh Alfred Process for improving the control behavior of an anti-lock control system
WO1997000799A1 (en) * 1995-06-22 1997-01-09 Itt Automotive Europe Gmbh Process for improving the regulating behaviour of an anti-lock systems
DE19703668A1 (en) * 1996-02-02 1997-08-07 Aisin Seiki Ride stability control system for wheeled vehicle esp for negotiating curved road sections
US5857754A (en) * 1996-02-02 1999-01-12 Aisin Seiki Kabushiki Kaisha Vehicle motion control system
DE19703668C2 (en) * 1996-02-02 2001-01-25 Aisin Seiki Driving stability control device
DE19712827B4 (en) * 1996-04-02 2006-05-04 Toyota Jidosha K.K., Toyota Stability control device of a vehicle for relieving the drive wheels from side slipping
DE19641429A1 (en) * 1996-10-08 1998-04-09 Bayerische Motoren Werke Ag Drive slip control system for motor vehicle with brake engagement on driven wheels
WO1998023472A1 (en) * 1996-11-26 1998-06-04 Continental Teves Ag & Co. Ohg Process and device to improve the regulating action of an anti-lock braking system
US6431663B1 (en) 1996-11-26 2002-08-13 Continental Teves Ag & Co., Ohg Process and device to improve the regulating action of an anti-lock braking system
DE19732998A1 (en) * 1997-07-31 1999-02-04 Itt Mfg Enterprises Inc Method and device for detecting a braking situation
US6742851B1 (en) 1997-07-31 2004-06-01 Continental Teves Ag & Co. Ohg Method and device for detecting a braking situation
WO1999007588A1 (en) * 1997-08-04 1999-02-18 Continental Teves Ag & Co. Ohg Method for increasing the driving stability of a vehicle
DE19841108B4 (en) * 1997-09-18 2007-12-20 Honda Giken Kogyo K.K. Driving stability control device for a vehicle
EP1488974A3 (en) * 2003-06-18 2009-12-23 Denso Corporation Drive control system and method for detecting vehicle instability
US20120173111A1 (en) * 2009-09-18 2012-07-05 Advics Co., Ltd. Vehicle behavior control device
US9031759B2 (en) * 2009-09-18 2015-05-12 Advics Co., Ltd. Vehicle behavior control device

Also Published As

Publication number Publication date
DE3939069C2 (en) 2002-07-04

Similar Documents

Publication Publication Date Title
DE3939069A1 (en) Motor vehicle with rear-wheel slip correction device - has brake applied to driven wheel on outside of curve while inside wheel accelerates to restore stability
EP0495797B1 (en) Wheel slip regulating system
DE3916354C2 (en)
EP1107893A1 (en) Method and device for stabilizing a vehicle
EP1439103B1 (en) Vehicle dynamics control method for a tractor-trailer combination
WO1991015386A1 (en) PROCESS FOR FINDING THE COEFFICIENT OF ADHESION $g(m)
EP1307368B1 (en) Stabilizing device for motor vehicles comprising compressed-air braking systems
DE102005049083B4 (en) Electronic vehicle dynamics control system for a land vehicle
DE3627550C2 (en)
DE10208619A1 (en) Method and device for detecting lifted vehicle wheels
DE2818813C2 (en)
DE3545544C2 (en)
DE10031128B4 (en) Method and device for recognizing a lane change
DE4033767A1 (en) ELECTRO-PNEUMATIC BRAKE SYSTEM
DE2302921C2 (en) Anti-lock dual-circuit brake system for motor vehicles
DE10232792A1 (en) Braking method for a vehicle
DE10100743B4 (en) Method and device for regulating the deceleration and driving stability of a moving vehicle
EP0256283B1 (en) Vehicle brake installation
EP0552435A2 (en) Method and device for generating a signal for driving a chassis control system
DE19618624C1 (en) Device for evaluation of signals from sensor
DE3627548A1 (en) Motor vehicle with a device for maintaining stable driving conditions
DE102004010296A1 (en) Method and device for damping trailer pendulum vibrations
DE10245032A1 (en) Procedure for controlling driving behavior by influencing the yaw rate
EP1183171B1 (en) Electronically regulated brake system
DE19542295B4 (en) Braking system for a vehicle

Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8110 Request for examination paragraph 44
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee