DE69615239D1 - Verfahren zur Steuerung des Gierens eines Kraftfahrzeuges - Google Patents

Verfahren zur Steuerung des Gierens eines Kraftfahrzeuges

Info

Publication number
DE69615239D1
DE69615239D1 DE69615239T DE69615239T DE69615239D1 DE 69615239 D1 DE69615239 D1 DE 69615239D1 DE 69615239 T DE69615239 T DE 69615239T DE 69615239 T DE69615239 T DE 69615239T DE 69615239 D1 DE69615239 D1 DE 69615239D1
Authority
DE
Germany
Prior art keywords
yaw
controlling
motor vehicle
vehicle
motor
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
DE69615239T
Other languages
English (en)
Other versions
DE69615239T2 (de
Inventor
Davorin David Hrovat
Minn Ngoc Tran
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.)
Ford Werke GmbH
Ford France SA
Ford Motor Co Ltd
Original Assignee
Ford Werke GmbH
Ford France SA
Ford Motor Co Ltd
Ford Motor Co
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 Ford Werke GmbH, Ford France SA, Ford Motor Co Ltd, Ford Motor Co filed Critical Ford Werke GmbH
Publication of DE69615239D1 publication Critical patent/DE69615239D1/de
Application granted granted Critical
Publication of DE69615239T2 publication Critical patent/DE69615239T2/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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
DE69615239T 1995-03-03 1996-01-30 Verfahren zur Steuerung des Gierens eines Kraftfahrzeuges Expired - Lifetime DE69615239T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US08/398,279 US5576959A (en) 1995-03-03 1995-03-03 Method for controlling yaw of a wheeled vehicle based on under-steer and over-steer containment routines

Publications (2)

Publication Number Publication Date
DE69615239D1 true DE69615239D1 (de) 2001-10-25
DE69615239T2 DE69615239T2 (de) 2002-04-18

Family

ID=23574764

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69615239T Expired - Lifetime DE69615239T2 (de) 1995-03-03 1996-01-30 Verfahren zur Steuerung des Gierens eines Kraftfahrzeuges

Country Status (3)

Country Link
US (1) US5576959A (de)
EP (1) EP0729870B1 (de)
DE (1) DE69615239T2 (de)

Families Citing this family (67)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
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
US5732379A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Brake system for a motor vehicle with yaw moment control
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
US5710704A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for driving stability control during travel through a curve
DE19515059A1 (de) 1994-11-25 1996-05-30 Teves Gmbh Alfred Fahrstabilitätsregler mit reibwertabhängiger Begrenzung der Referenzgierrate
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
US5732378A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Method for determining a wheel brake pressure
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
DE4446534B4 (de) * 1994-12-24 2004-06-17 Robert Bosch Gmbh Fahrdynamikregelsystem
DE4446592B4 (de) * 1994-12-24 2005-08-04 Robert Bosch Gmbh Fahrdynamikregelsystem
DE4446582B4 (de) * 1994-12-24 2005-11-17 Robert Bosch Gmbh Fahrdynamikregelsystem
JP3189610B2 (ja) * 1995-02-20 2001-07-16 トヨタ自動車株式会社 車両挙動制御装置
JP3387692B2 (ja) * 1995-05-16 2003-03-17 三菱自動車工業株式会社 車両の旋回制御装置
JP2993400B2 (ja) * 1995-06-09 1999-12-20 三菱自動車工業株式会社 車両の旋回制御装置
JP3257351B2 (ja) * 1995-07-07 2002-02-18 三菱自動車工業株式会社 車両の旋回制御装置
US5648903A (en) * 1995-07-10 1997-07-15 Ford Global Technologies, Inc. Four wheel steering control utilizing front/rear tire longitudinal slip difference
JP3577372B2 (ja) * 1995-09-11 2004-10-13 富士重工業株式会社 制動力制御装置
TW330182B (en) * 1995-09-26 1998-04-21 Honda Motor Co Ltd Process for controlling yaw moment in a vehicle
JPH09109866A (ja) * 1995-10-19 1997-04-28 Fuji Heavy Ind Ltd 車両運動制御装置
JP3008833B2 (ja) * 1995-10-25 2000-02-14 トヨタ自動車株式会社 車体の横滑り速度推定装置
JP3563869B2 (ja) * 1996-03-25 2004-09-08 トヨタ自動車株式会社 エンジン出力制御装置
JP3454011B2 (ja) * 1996-04-02 2003-10-06 トヨタ自動車株式会社 後輪駆動車の制動力制御装置
JPH1134831A (ja) * 1997-05-21 1999-02-09 Denso Corp ブレーキ制御装置
JP3915197B2 (ja) * 1997-07-10 2007-05-16 トヨタ自動車株式会社 車輌のブレーキ装置
US6292735B1 (en) * 1998-08-10 2001-09-18 Ford Global Technologies, Inc. Wheelslip regulating brake control
US6370467B1 (en) * 1998-08-10 2002-04-09 Ford Global Technologies, Inc. Method of calculating optimal wheelslips for brake controller
DE19851978A1 (de) * 1998-11-11 2000-05-25 Daimler Chrysler Ag Verfahren zur Regelung der Querdynamik eines Fahrzeuges mit Vorderachs-Lenkung
US7275607B2 (en) 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position
JP3872242B2 (ja) * 1999-09-21 2007-01-24 トヨタ自動車株式会社 ブレーキ制御装置
US6415215B1 (en) * 2000-02-23 2002-07-02 Koyo Seiko Co., Ltd. Vehicle attitude control apparatus
DE10128357A1 (de) * 2001-06-13 2003-03-06 Continental Teves Ag & Co Ohg Verfahren zur Regelung der Fahrstabilität
EP1409310B1 (de) * 2001-07-11 2009-04-29 Robert Bosch Gmbh Verfahren und vorrichtung zur prädiktion von bewegungstrajektorien eines kraftfahrzeugs
US6672689B1 (en) * 2002-06-28 2004-01-06 Continental Teves, Inc. System and method of regulating manual control of a vehicle in a sliding condition
AU2003247972A1 (en) 2002-07-12 2004-02-02 Deka Products Limited Partnership Control of a transporter based on attitude
DE60331390D1 (de) * 2002-08-20 2010-04-08 Mando Corp Aufhängungsvorrichtung zur Begrenzung des Wankens oder des Gierens für Fahrzeuge
DE10250738A1 (de) * 2002-10-31 2004-05-13 Bayerische Motoren Werke Ag Aktives Lenksystem für ein Mehrspur-Fahrzeug
US7278511B1 (en) 2003-01-27 2007-10-09 Polaris Industries Inc. Controller for steering a vehicle
US7316288B1 (en) 2003-01-27 2008-01-08 Polaris Industries Inc. All terrain vehicle with multiple steering modes
JP4290455B2 (ja) * 2003-03-28 2009-07-08 日産自動車株式会社 車両用制動制御装置
US6885931B2 (en) * 2003-04-24 2005-04-26 Visteon Global Technologies, Inc. Control algorithm for a yaw stability management system
DE502004008154D1 (de) * 2003-05-08 2008-11-13 Continental Teves Ag & Co Ohg Verfahren und vorrichtung zum regeln der fahrdynamik eines fahrzeugs
JP2005047437A (ja) * 2003-07-30 2005-02-24 Advics:Kk 車両の運動制御装置
KR100799488B1 (ko) 2004-04-26 2008-01-31 주식회사 만도 차량의 선회주행시 제어방법
US7308353B2 (en) * 2005-06-30 2007-12-11 Gm Global Technology Operations, Inc. Closed loop vehicle dynamic control for use with yaw rate controllers
US20070213911A1 (en) * 2006-03-09 2007-09-13 Ford Global Technologies, Llc Trailbraking
DE102006054805B4 (de) * 2006-11-21 2009-11-26 Continental Automotive Gmbh Verfahren und Vorrichtung zum Schätzen einer Reibkennzahl
JP4281801B2 (ja) * 2007-01-15 2009-06-17 株式会社デンソー 車輪状態報知装置
US20080228329A1 (en) * 2007-03-13 2008-09-18 Honeywell International Inc. Methods and systems for friction detection and slippage control
FR2918945B1 (fr) * 2007-07-19 2009-10-09 Messier Bugatti Sa Procede de commande d'un frein de vehicule avec correction en couple
US8190344B2 (en) * 2008-10-09 2012-05-29 GM Global Technology Operations LLC Optimization of vehicle stability and steering during a regenerative braking event
FR2942440B1 (fr) * 2009-02-25 2012-08-24 Renault Sas Procede de controle du comportement dynamique d'un vehicule automobile.
EP2420420B1 (de) * 2009-04-14 2014-05-07 Honda Motor Co., Ltd. Bbw-bremsvorrichtung
DE102010004113B4 (de) * 2010-01-07 2014-11-20 Continental Automotive Gmbh Verfahren und Vorrichtung zur Ermittlung eines maximalen Reibungsbeiwerts μmax zwischen einem Reifen und einem Untergrund
US9428161B2 (en) 2013-11-19 2016-08-30 Goodrich Corporation Brake control initiation using tire runway friction map data
US9434479B2 (en) * 2013-11-19 2016-09-06 Goodrich Corporation Aircraft tire and runway interface friction map consolidation
US9463873B2 (en) * 2014-07-13 2016-10-11 The Boeing Company Vehicle braking system having braking control and skid reduction functions
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
US10802495B2 (en) 2016-04-14 2020-10-13 Deka Products Limited Partnership User control device for a transporter
US10220843B2 (en) 2016-02-23 2019-03-05 Deka Products Limited Partnership Mobility device control system
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
USD829612S1 (en) 2017-05-20 2018-10-02 Deka Products Limited Partnership Set of toggles
JP6844500B2 (ja) * 2017-10-30 2021-03-17 トヨタ自動車株式会社 車両の挙動制御装置
CA3106189A1 (en) 2018-06-07 2019-12-12 Deka Products Limited Partnership System and method for distributed utility service execution

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4593955A (en) * 1983-06-14 1986-06-10 Robert Bosch Gmbh Yaw-compensated vehicle anti-skid system
DE3602432A1 (de) * 1986-01-28 1987-07-30 Bosch Gmbh Robert Antiblockierregelsystem
DE3731756A1 (de) * 1987-09-22 1989-03-30 Bosch Gmbh Robert Verfahren zur regelung der fahrstabilitaet eines fahrzeugs
US4898431A (en) * 1988-06-15 1990-02-06 Aisin Seiki Kabushiki Kaisha Brake controlling system
US5313389A (en) * 1988-09-13 1994-05-17 Aisin Seiki Kabushiki Kaisha Fail-safe mechanism for vehicle stability augmentation steering system
US4998593A (en) * 1989-03-31 1991-03-12 Aisin Seiki Kabushiki Kaisha Steering and brake controlling system
JP2605918B2 (ja) * 1990-03-27 1997-04-30 日産自動車株式会社 車両の旋回挙動制御装置
DE4030653A1 (de) * 1990-09-28 1992-04-02 Bosch Gmbh Robert Verfahren zum bestimmen der schraeglaufwinkel und/oder der seitenfuehrungskraefte eines gebremsten fahrzeuges
US5386365A (en) * 1991-03-22 1995-01-31 Mazda Motor Corporation Rear wheel steering system for vehicle
DE4123235C2 (de) * 1991-07-13 1997-04-03 Daimler Benz Ag Verfahren zur Verhinderung von Instabilitäten des Fahrverhaltens eines Fahrzeuges
DE4124496A1 (de) * 1991-07-24 1993-01-28 Teves Gmbh Alfred Bremsanlage fuer kraftfahrzeuge mit elektrischem antrieb
US5388658A (en) * 1991-12-02 1995-02-14 Imra America, Inc. Integrated torque and steering control system
DE4229504B4 (de) * 1992-09-04 2007-11-29 Robert Bosch Gmbh Verfahren zur Regelung der Fahrzeugstabilität
US5278761A (en) * 1992-11-12 1994-01-11 Ford Motor Company Method for vehicular wheel spin control that adapts to different road traction characteristics
JP3150832B2 (ja) * 1993-10-26 2001-03-26 トヨタ自動車株式会社 車両用制動制御装置

Also Published As

Publication number Publication date
EP0729870A2 (de) 1996-09-04
DE69615239T2 (de) 2002-04-18
US5576959A (en) 1996-11-19
EP0729870A3 (de) 1998-10-21
EP0729870B1 (de) 2001-09-19

Similar Documents

Publication Publication Date Title
DE69615239T2 (de) Verfahren zur Steuerung des Gierens eines Kraftfahrzeuges
DE69713208T2 (de) Verfahren und System zur Steuerung des Giermomentes eines Fahrzeuges
DE59702351D1 (de) Verfahren zur regelung des fahrverhaltens eines fahrzeugs
DE59810072D1 (de) Verfahren und vorrichtung zur steuerung des antriebsstrangs eines kraftfahrzeugs
DE59705530D1 (de) Verfahren und Vorrichtung zur Steuerung der Fahrgeschwindigkeit eines Fahrzeugs
DE59809476D1 (de) Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges
DE69615006T2 (de) Verfahren zur steuerung eines anwesenheitssensors
DE59502116D1 (de) Verfahren und vorrichtung zur steuerung eines fahrzeugs
DE59504425D1 (de) Verfahren zur steuerung/regelung von prozessen in einem kraftfahrzeug
DE59201680D1 (de) Verfahren zur steuerung eines stufenlosen getriebes eines kraftfahrzeugs.
DE59806931D1 (de) Verfahren und vorrichtung zur steuerung einer antriebseinheit eines fahrzeugs
DE59706974D1 (de) Verfahren zur regelung des fahrverhaltens eines fahrzeugs mit reifensensoren
DE59201621D1 (de) Verfahren zur steuerung eines stufenlosen getriebes eines kraftfahrzeugs.
DE59710357D1 (de) Verfahren zur kontrollierten Inbetriebnahme eines Fahrzeugs
DE59808271D1 (de) Verfahren und vorrichtung zur steuerung der antriebseinheit eines fahrzeugs
DE59607049D1 (de) Verfahren und vorrichtung zur steuerung der bremsanlage eines fahrzeugs
DE59903814D1 (de) Verfahren zur Steuerung der Bremsanlage eines Fahrzeugs
DE69503445T2 (de) Verfahren zur Steuerung des Hilfmotors von Fahrrädern
DE59708885D1 (de) Vorrichtung und verfahren zur steuerung des antriebsstrangs eines kraftfahrzeugs
DE59406577D1 (de) Verfahren zur steuerung eines reluktanzmotors
DE59306417D1 (de) Verfahren zur steuerung eines fahrzeuginsassen-schutzsystemes
DE59913009D1 (de) Verfahren zur Regelung des Fahrverhaltens eines Fahrzeuges
DE59900926D1 (de) Verfahren und Vorrichtung zur Regelung der Fahrweise eines Kraftfahrzeuges
DE69617101D1 (de) Verfahren und System zur Steuerung eines Synchronmotors
DE59906556D1 (de) Verfahren zur Steuerung oder Regelung der Motorbremse eines Kraftfahrzeugs

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: FORD-WERKE GMBH, 50735 KOELN, DE

Owner name: FORD MOTOR CO. LTD., BRENTWOOD, ESSEX, GB

Owner name: FORD FRANCE S.A., RUEIL-MALMAISON, FR