DE60127922D1 - Vorrichtung und Verfahren zur Regelung der Fahrzeugbewegung - Google Patents
Vorrichtung und Verfahren zur Regelung der FahrzeugbewegungInfo
- Publication number
- DE60127922D1 DE60127922D1 DE60127922T DE60127922T DE60127922D1 DE 60127922 D1 DE60127922 D1 DE 60127922D1 DE 60127922 T DE60127922 T DE 60127922T DE 60127922 T DE60127922 T DE 60127922T DE 60127922 D1 DE60127922 D1 DE 60127922D1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle movement
- controlling vehicle
- controlling
- movement
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- 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
- B60T8/58—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 responsive to speed and another condition or to plural speed conditions
-
- 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
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip 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
- 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
- B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
-
- 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
- B60T2201/14—Electronic locking-differential
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/86—Optimizing braking by using ESP vehicle or tire model
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000353436 | 2000-11-20 | ||
JP2000353436 | 2000-11-20 | ||
JP2001264987 | 2001-08-31 | ||
JP2001264987A JP3601487B2 (ja) | 2000-11-20 | 2001-08-31 | 車輌の制駆動力制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE60127922D1 true DE60127922D1 (de) | 2007-05-31 |
DE60127922T2 DE60127922T2 (de) | 2008-01-17 |
Family
ID=26604307
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60127922T Expired - Lifetime DE60127922T2 (de) | 2000-11-20 | 2001-11-14 | Vorrichtung und Verfahren zur Regelung der Fahrzeugbewegung |
Country Status (6)
Country | Link |
---|---|
US (1) | US6659570B2 (de) |
EP (1) | EP1207090B1 (de) |
JP (1) | JP3601487B2 (de) |
KR (1) | KR100489149B1 (de) |
DE (1) | DE60127922T2 (de) |
ES (1) | ES2281392T3 (de) |
Families Citing this family (87)
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---|---|---|---|---|
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JP3601487B2 (ja) * | 2000-11-20 | 2004-12-15 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
US6829524B2 (en) * | 2001-08-20 | 2004-12-07 | Wisys Technology Foundation, Inc. | Method and apparatus for estimating yaw rate in a wheeled vehicle and stability system |
US7210544B2 (en) | 2002-07-12 | 2007-05-01 | Deka Products Limited Partnership | Control of a transporter based on attitude |
FR2843194A1 (fr) * | 2002-07-31 | 2004-02-06 | Soc Technologie Michelin Stm | Procede et disposiitif de determination d'un effort exerce sur une roue par le sol |
JP4039210B2 (ja) * | 2002-10-29 | 2008-01-30 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
JP4342175B2 (ja) * | 2002-12-27 | 2009-10-14 | トヨタ自動車株式会社 | 制動システム |
JP4165380B2 (ja) * | 2003-01-31 | 2008-10-15 | 株式会社豊田中央研究所 | 車両制御方法及び車両制御装置 |
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 |
JP4293431B2 (ja) * | 2003-06-11 | 2009-07-08 | 富士重工業株式会社 | 車両制御装置および車両制御方法 |
EP1740414B1 (de) * | 2003-06-30 | 2013-04-10 | Kelsey-Hayes Company | Verfahren und vorrichtung zur erfassung und korrektur von anhängerinduzierten gierbewegungen in einem zugfahrzeug |
JP4268019B2 (ja) * | 2003-11-14 | 2009-05-27 | 株式会社豊田中央研究所 | 車体運動実現方法及び装置 |
WO2005055001A2 (en) * | 2003-11-26 | 2005-06-16 | Universal Business Matrix, Llc | Method for assisting in automated conversion of data and associated metadata |
DE602005000242T2 (de) * | 2004-01-16 | 2007-04-05 | Société de Technologie Michelin | System zur Stabilitätsregelung eines Fahrzeugs mit mehreren prädiktiven Algorithmen und einem Auswahlprozess |
JP4161923B2 (ja) * | 2004-03-09 | 2008-10-08 | 株式会社デンソー | 車両安定化制御システム |
EP1577147B1 (de) * | 2004-03-15 | 2011-12-28 | Nissan Motor Company Limited | Apparat und Methode zum Regeln der Verzögerung eines Kraftfahrzeugs |
JP2005271824A (ja) * | 2004-03-25 | 2005-10-06 | Mitsubishi Fuso Truck & Bus Corp | 車両の挙動制御装置 |
JP4391304B2 (ja) * | 2004-04-23 | 2009-12-24 | 日産自動車株式会社 | 減速制御装置 |
JP4638185B2 (ja) * | 2004-08-04 | 2011-02-23 | 富士重工業株式会社 | 車両の挙動制御装置 |
JP2006096230A (ja) * | 2004-09-30 | 2006-04-13 | Fuji Heavy Ind Ltd | 車両運動制御装置および車両運動制御方法 |
US7991532B2 (en) * | 2004-12-27 | 2011-08-02 | Equos Research Co., Ltd. | Wheel control device and control device |
JP4186081B2 (ja) | 2005-02-02 | 2008-11-26 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
JP4131268B2 (ja) * | 2005-02-02 | 2008-08-13 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
JP4131269B2 (ja) * | 2005-03-01 | 2008-08-13 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
JP4131270B2 (ja) * | 2005-03-01 | 2008-08-13 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
JP2006321271A (ja) * | 2005-05-17 | 2006-11-30 | Jtekt Corp | 車両用操舵装置 |
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JP4193838B2 (ja) | 2005-12-16 | 2008-12-10 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
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JP5133917B2 (ja) * | 2009-02-16 | 2013-01-30 | 本田技研工業株式会社 | 路面摩擦係数推定装置 |
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JP2022025229A (ja) * | 2020-07-29 | 2022-02-10 | カワサキモータース株式会社 | 移動経路生成システム、移動経路生成プログラム及び移動経路生成方法 |
CN111965977B (zh) * | 2020-08-06 | 2023-01-10 | 长春工业大学 | 一种基于轮胎均等后备能力的汽车稳定性控制方法 |
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CN113221257B (zh) * | 2021-06-11 | 2022-05-31 | 吉林大学 | 考虑控制区域的极限工况下车辆横纵向稳定控制方法 |
CN113401113B (zh) * | 2021-06-25 | 2024-06-07 | 江苏大学 | 基于车辆稳定包络线的无人驾驶汽车直接横摆力矩控制方法及控制器 |
KR102621687B1 (ko) * | 2022-04-18 | 2024-01-05 | 한국기술교육대학교 산학협력단 | Abs 작동 중 선회 조종성 향상 장치 및 이를 이용한 abs 작동 중 선회 조종성 향상 방법 |
CN114889446B (zh) * | 2022-05-09 | 2024-06-25 | 武汉理工大学 | 一种越野车辆两方向转矩矢量分配方法、设备及存储介质 |
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DE3437071A1 (de) * | 1983-10-15 | 1985-05-02 | Nissan Motor Co., Ltd., Yokohama, Kanagawa | Fahrzeuglenksystem |
JP2902105B2 (ja) * | 1990-11-30 | 1999-06-07 | マツダ株式会社 | 車両の走行制御装置 |
DE4200061C2 (de) * | 1992-01-03 | 2001-09-13 | Bosch Gmbh Robert | Verfahren zur Bestimmung der Fahrzeugquergeschwindigkeit und/oder des Schwimmwinkels |
JPH0698418A (ja) * | 1992-09-16 | 1994-04-08 | Hitachi Ltd | 路面反力推定装置および左右輪差動装置および自動車モータトルク制御装置ならびに自動車 |
DE4243717A1 (de) * | 1992-12-23 | 1994-06-30 | Bosch Gmbh Robert | Verfahren zur Regelung der Fahrzeugstabilität |
JP3138603B2 (ja) * | 1994-11-30 | 2001-02-26 | 三菱電機株式会社 | アンチスキッド制御装置 |
JP3303605B2 (ja) * | 1995-05-17 | 2002-07-22 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3257392B2 (ja) * | 1996-02-23 | 2002-02-18 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JPH09301142A (ja) | 1996-05-10 | 1997-11-25 | Aisin Seiki Co Ltd | 車両の制動力制御装置 |
DE19624795A1 (de) * | 1996-06-21 | 1998-01-02 | Teves Gmbh Alfred | Verfahren zur Regelung des Fahrverhaltens eines Fahrzeugs mit Reifensensoren |
JP3348619B2 (ja) * | 1997-03-04 | 2002-11-20 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JPH10264798A (ja) * | 1997-03-27 | 1998-10-06 | Mazda Motor Corp | 車両の姿勢制御装置 |
JPH1191526A (ja) | 1997-09-17 | 1999-04-06 | Toyota Motor Corp | 車輌の運動制御装置 |
DE19812238A1 (de) | 1998-03-20 | 1999-09-23 | Daimler Chrysler Ag | Verfahren zur Regelung des Gierverhaltens von Fahrzeugen |
JP3458734B2 (ja) | 1998-04-09 | 2003-10-20 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
WO1999056994A1 (fr) | 1998-05-07 | 1999-11-11 | Unisia Jecs Corporation | Dispositif pour reguler les mouvements d'embardee d'un vehicule |
JP3621842B2 (ja) * | 1999-02-01 | 2005-02-16 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
US6341826B2 (en) * | 1999-12-21 | 2002-01-29 | Denso Corporation | Antiskid brake control system for automotive vehicles |
JP3601487B2 (ja) * | 2000-11-20 | 2004-12-15 | トヨタ自動車株式会社 | 車輌の制駆動力制御装置 |
JP3458839B2 (ja) * | 2000-11-20 | 2003-10-20 | トヨタ自動車株式会社 | 路面の最大摩擦係数推定装置 |
-
2001
- 2001-08-31 JP JP2001264987A patent/JP3601487B2/ja not_active Expired - Lifetime
- 2001-11-13 US US09/987,180 patent/US6659570B2/en not_active Expired - Lifetime
- 2001-11-14 EP EP01127050A patent/EP1207090B1/de not_active Expired - Lifetime
- 2001-11-14 ES ES01127050T patent/ES2281392T3/es not_active Expired - Lifetime
- 2001-11-14 DE DE60127922T patent/DE60127922T2/de not_active Expired - Lifetime
- 2001-11-19 KR KR10-2001-0071861A patent/KR100489149B1/ko active IP Right Grant
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KR100489149B1 (ko) | 2005-05-17 |
JP3601487B2 (ja) | 2004-12-15 |
DE60127922T2 (de) | 2008-01-17 |
US20020109402A1 (en) | 2002-08-15 |
EP1207090B1 (de) | 2007-04-18 |
US6659570B2 (en) | 2003-12-09 |
JP2002211378A (ja) | 2002-07-31 |
ES2281392T3 (es) | 2007-10-01 |
KR20020039254A (ko) | 2002-05-25 |
EP1207090A3 (de) | 2003-01-02 |
EP1207090A2 (de) | 2002-05-22 |
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