DE60034714D1 - Fahrzeugschlupfwinkelschätzverfahren und -system - Google Patents

Fahrzeugschlupfwinkelschätzverfahren und -system

Info

Publication number
DE60034714D1
DE60034714D1 DE60034714T DE60034714T DE60034714D1 DE 60034714 D1 DE60034714 D1 DE 60034714D1 DE 60034714 T DE60034714 T DE 60034714T DE 60034714 T DE60034714 T DE 60034714T DE 60034714 D1 DE60034714 D1 DE 60034714D1
Authority
DE
Germany
Prior art keywords
estimation method
slip angle
angle estimation
vehicle slip
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.)
Expired - Lifetime
Application number
DE60034714T
Other languages
English (en)
Other versions
DE60034714T2 (de
Inventor
Nobuyoshi Onogi
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.)
Denso Corp
Original Assignee
Denso Corp
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
Priority claimed from JP20649999A external-priority patent/JP4244453B2/ja
Priority claimed from JP11221208A external-priority patent/JP2001050973A/ja
Application filed by Denso Corp filed Critical Denso Corp
Publication of DE60034714D1 publication Critical patent/DE60034714D1/de
Application granted granted Critical
Publication of DE60034714T2 publication Critical patent/DE60034714T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability 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
    • B60T8/172—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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)
DE60034714T 1999-07-21 2000-07-21 Fahrzeugschlupfwinkelschätzverfahren und -system Expired - Lifetime DE60034714T2 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP20649999A JP4244453B2 (ja) 1999-07-21 1999-07-21 車体スリップ角推定方法及び装置
JP20649999 1999-07-21
JP22120899 1999-08-04
JP11221208A JP2001050973A (ja) 1999-08-04 1999-08-04 車両挙動推定方法及び装置、並びに車両挙動制御方法及び装置

Publications (2)

Publication Number Publication Date
DE60034714D1 true DE60034714D1 (de) 2007-06-14
DE60034714T2 DE60034714T2 (de) 2008-01-17

Family

ID=26515678

Family Applications (2)

Application Number Title Priority Date Filing Date
DE60034714T Expired - Lifetime DE60034714T2 (de) 1999-07-21 2000-07-21 Fahrzeugschlupfwinkelschätzverfahren und -system
DE60020020T Expired - Lifetime DE60020020T2 (de) 1999-07-21 2000-07-21 Stabilitätsregelung für Kraftfahrzeuge

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE60020020T Expired - Lifetime DE60020020T2 (de) 1999-07-21 2000-07-21 Stabilitätsregelung für Kraftfahrzeuge

Country Status (3)

Country Link
US (1) US6304805B1 (de)
EP (2) EP1070643B1 (de)
DE (2) DE60034714T2 (de)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1010821C1 (nl) * 1998-12-16 1999-01-29 Erik Jeroen Eenkhoorn Inrichting voor een wegvoertuig of gedeelte daarvan.
DE10046036A1 (de) * 2000-09-18 2002-03-28 Knorr Bremse Systeme Verfahren zum Abschätzen der Umkippgefahr eines Fahrzeugs
US6954140B2 (en) 2001-03-16 2005-10-11 Bendix Commercial Vehicle Systems Llc Method and apparatus for vehicle rollover prediction and prevention
JP3868848B2 (ja) * 2002-05-23 2007-01-17 三菱電機株式会社 車両状態検出装置
KR100521169B1 (ko) * 2002-12-27 2005-10-12 현대자동차주식회사 롤 오버 제어 방법
JP4693765B2 (ja) * 2003-02-20 2011-06-01 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト 車両の運転安定性を制御する方法及びシステム並びにこのシステムの使用
US6789002B1 (en) * 2003-05-19 2004-09-07 Delphi Technologies, Inc. Determination of vehicle payload condition
JP4084248B2 (ja) * 2003-07-08 2008-04-30 トヨタ自動車株式会社 車輌の挙動制御装置
EP1646518B1 (de) * 2003-07-11 2010-09-29 Robert Bosch Gmbh An das wankverhalten eines fahrzeugs angepasstes fahrdynamikregelungssystem
JP4292907B2 (ja) * 2003-07-17 2009-07-08 株式会社アドヴィックス 車両の運動制御装置
DE10338879A1 (de) * 2003-08-23 2005-03-17 Wabco Gmbh & Co.Ohg Verfahren zur Abschätzung einer Querbeschleunigung eines Fahrzeugs
DE10350920A1 (de) * 2003-10-31 2005-05-25 Robert Bosch Gmbh Vorrichtung zur Bestimmung eines Drehpunkts eines Fahrzeugs um eine Fahrzeughochachse
US7502675B2 (en) 2004-04-01 2009-03-10 Delphi Technologies, Inc. Feedforward control of motor vehicle roll angle
DE102004021174A1 (de) * 2004-04-30 2005-11-24 Daimlerchrysler Ag Verfahren zum Steuern einer sicherheitsrelevanten Komponente eines Kraftfahrzeugs und Kraftfahrzeug mit einem präventiv auslösenden Sicherheitssystem
DE102004029374A1 (de) * 2004-06-17 2006-01-05 Robert Bosch Gmbh Verfahren zur Bestimmung einer Auslöseentscheidung für Rückhaltemittel eines Kraftfahrzeuges
JP4558395B2 (ja) * 2004-07-12 2010-10-06 富士重工業株式会社 車輪の接地状態判定装置および車輪の接地状態判定方法、並びに車両運動制御装置
DE102004040140A1 (de) * 2004-08-19 2006-02-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Behebung einer Umkippgefahr eines Kraftfahrzeugs
US7191047B2 (en) 2004-09-27 2007-03-13 Delphi Technologies, Inc. Motor vehicle control using a dynamic feedforward approach
US7668637B2 (en) * 2005-07-22 2010-02-23 O'dea Kevin Austin Technique for determining motor vehicle slip angle while accounting for road banks
US8359146B2 (en) * 2005-12-15 2013-01-22 Bendix Commercial Vehicle Systems Llc Single channel roll stability system
US8191975B2 (en) * 2005-12-15 2012-06-05 Bendix Commercial Vehicle Systems Llc Single channel roll stability system
JP2008296740A (ja) * 2007-05-31 2008-12-11 Hitachi Ltd 車両挙動制御装置
JP4997065B2 (ja) * 2007-10-29 2012-08-08 日立オートモティブシステムズ株式会社 車両制御装置
GB2454223B (en) * 2007-11-01 2011-09-21 Haldex Brake Products Ltd Vehicle stability control method
JP4603595B2 (ja) * 2008-04-24 2010-12-22 本田技研工業株式会社 車体流れ抑制装置
CN102015402B (zh) * 2008-04-24 2014-02-19 本田技研工业株式会社 车身滑动抑制装置
JP5113098B2 (ja) * 2009-01-23 2013-01-09 日立オートモティブシステムズ株式会社 車両横転防止制御装置および車両横転防止制御方法
CN101898560A (zh) * 2010-05-21 2010-12-01 北京理工大学 一种适用于全轮驱动车辆驱动防滑控制的新型调节参数
US9050997B1 (en) 2010-08-31 2015-06-09 Michael R. Schramm Rollover prevention apparatus
DE102011082034A1 (de) * 2011-09-02 2013-03-07 Robert Bosch Gmbh Temporäre Kompensation der ungewollten Verzögerung durch Bremseingriffe von ESP-Funktionen
JP5483770B2 (ja) * 2012-09-21 2014-05-07 富士重工業株式会社 ４輪駆動車の制御装置
GB2565851B (en) 2017-08-25 2022-05-04 Haldex Brake Prod Ab Braking system

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0733123B2 (ja) * 1986-02-25 1995-04-12 トヨタ自動車株式会社 車輌用車高調整式ロ−ル制御装置
DE4216301C2 (de) * 1992-05-16 1997-05-22 Daimler Benz Ag Verfahren zur Bestimmung das Fahrverhalten charakterisierender Größen
JPH06297985A (ja) 1993-04-19 1994-10-25 Toyota Motor Corp 車両の制御装置
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
JPH08268137A (ja) 1995-03-31 1996-10-15 Isuzu Motors Ltd ダンプ車両の横転防止装置
JP3060923B2 (ja) * 1995-11-24 2000-07-10 トヨタ自動車株式会社 車両状態推定装置
DE19632943C2 (de) 1996-08-16 1999-10-21 Daimler Chrysler Ag Verfahren zum Betrieb eines Kraftfahrzeugs mit fahrstabilisierenden Bremseingriffen
JPH10119743A (ja) * 1996-10-23 1998-05-12 Aisin Seiki Co Ltd 車両の運動制御装置
JPH10273031A (ja) 1997-03-31 1998-10-13 Mazda Motor Corp 車両の姿勢制御装置
JPH10309920A (ja) 1997-05-09 1998-11-24 Toyota Motor Corp 車両ロール角低減装置
JPH1114363A (ja) 1997-06-23 1999-01-22 Fujitsu Ten Ltd ドリフト検出補正手段
WO1999001311A1 (en) * 1997-07-01 1999-01-14 Dynamotive, L.L.C. Anti-rollover brake system
JP3567962B2 (ja) 1997-09-09 2004-09-22 三菱ふそうトラック・バス株式会社 車両の重心高推定装置および横転防止装置
US6002974A (en) * 1998-02-06 1999-12-14 Delco Electronics Corporation Vehicle rollover sensing using extended kalman filter
US6185497B1 (en) 1998-03-20 2001-02-06 Denso Corporation Apparatus for controlling behavior of vehicle using brakes

Also Published As

Publication number Publication date
EP1514754B1 (de) 2007-05-02
DE60020020D1 (de) 2005-06-16
EP1514754A3 (de) 2005-08-17
DE60020020T2 (de) 2006-01-19
EP1514754A2 (de) 2005-03-16
EP1070643B1 (de) 2005-05-11
US6304805B1 (en) 2001-10-16
EP1070643A2 (de) 2001-01-24
DE60034714T2 (de) 2008-01-17
EP1070643A3 (de) 2003-05-02

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Legal Events

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8320 Willingness to grant licences declared (paragraph 23)
8364 No opposition during term of opposition