EP0832018A1 - Procede et dispositif pour la regulation d'une grandeur representant le mouvement d'un vehicule - Google Patents

Procede et dispositif pour la regulation d'une grandeur representant le mouvement d'un vehicule

Info

Publication number
EP0832018A1
EP0832018A1 EP97923729A EP97923729A EP0832018A1 EP 0832018 A1 EP0832018 A1 EP 0832018A1 EP 97923729 A EP97923729 A EP 97923729A EP 97923729 A EP97923729 A EP 97923729A EP 0832018 A1 EP0832018 A1 EP 0832018A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
lateral acceleration
ayin
yaw rate
acceleration
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.)
Withdrawn
Application number
EP97923729A
Other languages
German (de)
English (en)
Inventor
Thomas Ehret
Anton Van Zanten
Rainer Erhardt
Friedrich Kost
Uwe Hartmann
Werner Urban
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
Publication of EP0832018A1 publication Critical patent/EP0832018A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B60G2400/0523—Yaw rate
    • 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
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to 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
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/016—Yawing condition
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/20—Road shapes
    • B60T2210/22—Banked curves
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/03—Vehicle yaw rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/304—Acceleration sensors

Definitions

  • the lateral acceleration is measured using a
  • the block 201 consists of two blocks 301 and 302.
  • the signals 301 mentioned above of the yaw rate omega, the longitudinal vehicle speed vl and the lateral vehicle acceleration ayin are supplied to the block 301.
  • block 301 forms the transverse acceleration component ayoff due to the transverse inclination of the roadway. This is fed to block 302.
  • the block acceleration signal ayin is fed to block 302.
  • block 302 forms the lateral acceleration ayff required in the coordinate system fixed to the roadway. This is fed to block 202.
  • step 403 the lateral acceleration ayff required for the coordinate system fixed to the roadway is determined and output.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un dispositif ou un procédé permettant de réguler une grandeur représentant le mouvement d'un véhicule, qui offrent des moyens servant à déterminer le taux de lacet du véhicule, à déterminer la vitesse dans le sens longitudinal du véhicule, et servant à déterminer l'accélération transversale du véhicule. En outre, le dispositif contient des moyens servant à influer sur le couple d'entraînement en avant et/ou sur le couple de freinage des roues individuelles du véhicule. Le dispositif comporte des moyens additionnels permettant de déterminer une composante d'accélération transversale dépendante de l'inclinaison transversale de la voie de circulation, ainsi que des moyens servant à corriger l'accélération transversale du véhicule, cela au moins en fonction de la composante d'accélération transversale dépendante de l'inclinaison transversale de la voie de circulation. La détermination de la composante d'accélération transversale, dépendante de l'inclinaison transversale de la voie de circulation, ainsi que la correction de l'accélération transversale du véhicule se font lorsque le véhicule se trouve à un état stable défini par le taux de lacet et l'accélération transversale.
EP97923729A 1996-04-18 1997-04-08 Procede et dispositif pour la regulation d'une grandeur representant le mouvement d'un vehicule Withdrawn EP0832018A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19615311A DE19615311B4 (de) 1996-04-18 1996-04-18 Verfahren und Vorrichtung zur Regelung einer die Fahrzeugbewegung repräsentierenden Bewegungsgröße
DE19615311 1996-04-18
PCT/DE1997/000714 WO1997039928A1 (fr) 1996-04-18 1997-04-08 Procede et dispositif pour la regulation d'une grandeur representant le mouvement d'un vehicule

Publications (1)

Publication Number Publication Date
EP0832018A1 true EP0832018A1 (fr) 1998-04-01

Family

ID=7791633

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97923729A Withdrawn EP0832018A1 (fr) 1996-04-18 1997-04-08 Procede et dispositif pour la regulation d'une grandeur representant le mouvement d'un vehicule

Country Status (6)

Country Link
US (1) US6259973B1 (fr)
EP (1) EP0832018A1 (fr)
JP (1) JPH11514610A (fr)
KR (1) KR19990022996A (fr)
DE (1) DE19615311B4 (fr)
WO (1) WO1997039928A1 (fr)

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ES2153205T3 (es) 1996-09-24 2001-02-16 Bosch Gmbh Robert Procedimiento y dispositivo para la regulacion de una magnitud de movimiento que representa el movimiento del vehiculo.
GB9812264D0 (en) * 1998-06-09 1998-08-05 Rover Group Vehicle roll control
DE19844914B4 (de) * 1998-09-30 2005-12-15 Robert Bosch Gmbh Vorrichtung und Verfahren zur Überwachung eines in einem Fahrzeug angeordneten Beschleunigungssensors
US6185485B1 (en) * 1998-12-22 2001-02-06 Ford Global Technologies, Inc Relative vehicle platform having synchronized adaptive offset calibration for lateral accelerometer and steering angle sensor
US6687594B1 (en) * 1999-03-08 2004-02-03 Continental Teves, Ag & Co. Ohg Traction-slip control method with theoretical transversal acceleration and control circuit for carrying out such a traction-slip control method
DE19918597C2 (de) * 1999-04-23 2001-03-08 Deutsch Zentr Luft & Raumfahrt Verfahren zur Reduktion der Kippgefahr von Straßenfahrzeugen
US6735246B1 (en) * 1999-07-23 2004-05-11 Silicon Laboratories Inc. Integrated modem and line-isolation circuitry with data flow control and associated method
SE516996C2 (sv) 2000-05-02 2002-04-02 Volvo Articulated Haulers Ab Anordning och förfarande för bestämning av maximalt tillåten hastighet hos ett fordon
DE10065724A1 (de) * 2000-12-29 2002-07-04 Bosch Gmbh Robert Bremsregelsystem zur Stabilisierung der Bewegung eines Nutzfahrzeugs
DE10128357A1 (de) 2001-06-13 2003-03-06 Continental Teves Ag & Co Ohg Verfahren zur Regelung der Fahrstabilität
JP2003184599A (ja) * 2001-12-12 2003-07-03 Aisin Seiki Co Ltd 車輌の挙動制御装置
US6600979B1 (en) * 2002-02-26 2003-07-29 General Electric Company Method and system for determining an inertially-adjusted vehicle reference speed
JP2006507183A (ja) * 2002-11-22 2006-03-02 ダイムラークライスラー・アクチェンゲゼルシャフト 連結車を安定にする方法及び装置
DE102005018519B4 (de) * 2005-04-20 2016-11-03 Zf Friedrichshafen Ag Verfahren zur Fahrdynamik-Regelung von Kraftfahrzeugen
US20060276939A1 (en) * 2005-06-02 2006-12-07 Ameen Yashwant K Real-time determination of grade and superelevation angles of roads
JP4640224B2 (ja) 2006-03-15 2011-03-02 日産自動車株式会社 車両走行路の湾曲傾向検出装置およびこれを用いた車両の動作応答制御装置
DE102007059136B4 (de) * 2007-12-08 2014-01-09 Ford Global Technologies, Llc Verfahren und Vorrichtung zur Zustandsschätzung von Fahrzeugen
DE102010026916A1 (de) 2010-07-13 2012-01-19 Man Truck & Bus Ag Verfahren und Vorrichtung zum Erkennen und Kompensieren einer von einem Fahrzeug durchfahrenen Fahrbahnquerneigung
JP5044000B2 (ja) * 2010-08-23 2012-10-10 日信工業株式会社 車両用制御装置
GB2517995B (en) * 2013-09-09 2018-04-11 Jaguar Land Rover Ltd Vehicle control system and method
JP2016159683A (ja) * 2015-02-27 2016-09-05 富士通テン株式会社 車両制御装置、車両制御システム、および、車両制御方法
CN109254171B (zh) * 2017-07-12 2022-02-18 罗伯特·博世有限公司 车用加速度传感器的位置校准方法及装置、车辆控制设备
DE102017131160A1 (de) * 2017-12-22 2019-06-27 Elektronische Fahrwerksysteme GmbH Verfahren zur Ermittlung einer Schwerpunktshöhe eines Kraftfahrzeugs

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Also Published As

Publication number Publication date
KR19990022996A (ko) 1999-03-25
US6259973B1 (en) 2001-07-10
DE19615311A1 (de) 1997-10-23
WO1997039928A1 (fr) 1997-10-30
DE19615311B4 (de) 2006-06-29
JPH11514610A (ja) 1999-12-14

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