EP0844955A1 - Procede d'amelioration des caracteristiques de regulation d'un systeme antiblocage abs - Google Patents

Procede d'amelioration des caracteristiques de regulation d'un systeme antiblocage abs

Info

Publication number
EP0844955A1
EP0844955A1 EP96924860A EP96924860A EP0844955A1 EP 0844955 A1 EP0844955 A1 EP 0844955A1 EP 96924860 A EP96924860 A EP 96924860A EP 96924860 A EP96924860 A EP 96924860A EP 0844955 A1 EP0844955 A1 EP 0844955A1
Authority
EP
European Patent Office
Prior art keywords
wheel
control
gradient
pressure build
brake
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Withdrawn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
EP96924860A
Other languages
German (de)
English (en)
Inventor
Ivica Batistic
Robert Schmidt
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.)
Continental Teves AG and Co OHG
Original Assignee
ITT Automotive Europe GmbH
Alfred Teves 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 ITT Automotive Europe GmbH, Alfred Teves GmbH filed Critical ITT Automotive Europe GmbH
Publication of EP0844955A1 publication Critical patent/EP0844955A1/fr
Withdrawn legal-status Critical Current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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems

Definitions

  • the invention relates to a method for improving the control behavior of an anti-lock braking system (ABS), in particular in the case of a strong reduction in the wheel contact force due to a so-called jumping hill, a roadway depression or the like.
  • ABS anti-lock braking system
  • the rotational behavior of the individual wheels is measured and evaluated to determine a vehicle reference speed, wheel slip and other control variables which are used to measure and / or modulate the brake pressure in the wheel brakes of the controlled wheels.
  • ABS Anti-lock braking systems
  • the information required for the control is obtained by measuring the rotational behavior of the individual wheels, whereby a logical reference of the vehicle speed is determined by logically linking the wheel rotation signals, which then is used as a reference variable for determining the wheel slip and other control variables and finally can be used to measure or regulate the brake pressure in the wheel brakes. It is not always possible to recognize the actual control situation from the information provided by the wheel sensors and to consequently control the brake pressure if the interpretation of the wheel turning behavior does not allow a clear statement of the current situation.
  • a particular problem with an anti-lock braking system is the relatively strong reduction in brake pressure that can occur if the vehicle during partial braking, i. H. reaches a so-called jumping hill, a roadway depression or the like during a normal, unregulated braking operation.
  • Such a lane disruption namely when the wheel rebounds as a result of this disruption, leads to a large reduction in the wheel contact force, which the ABS control tries to compensate for by strongly reducing the pressure on this wheel.
  • This reduction in pressure leads to an undesirable reduction in braking efficiency and thus to an extension of the braking distance.
  • the invention is based on the object of improving the control behavior of an ABS in such a situation and, in particular, of eliminating the undesirable effects of such a control process caused by the wheel contact force.
  • this object can be achieved by the method described in claim 1, the special feature of which is that when a blockage protection control process is initiated following partial braking and the occurrence of a brake slip which occurs over a predetermined limit value and lasts beyond a predetermined minimum time period, individually for each wheel, in particular each front wheel, the product of the maximum brake slip and the time period from the beginning of the instability to the wheel reversal point, namely until the occurrence of a wheel re-acceleration which is above a predetermined limit value ⁇ supply, and that if the product exceeds a predetermined limit value, the brake pressure on the affected (front) wheel is built up in the subsequent stable phase with an increased gradient.
  • the loss of braking distance or loss of deceleration as a result of the previously described effects of a "jumping hill” or the like occurs in an ABS control only in the subsequent phase of the braking process, in which the wheel is running again stable, because the brake pressure at a normal pressure build-up rhythm with a relatively flat one Gradient or pulse-shaped.
  • the invention is therefore based on the knowledge that the presence of a "jumping hill" situation can be recognized and that the undesirable effects of this situation can be compensated for by subsequent rapid pressure build-up.
  • the increase in brake pressure with an increased gradient is expediently only permitted when the acceleration or re-acceleration of the wheel concerned reaches a value which is proportional to the maximum slip of this wheel and is above a predetermined minimum acceleration value.
  • a brake slip limit value in the order of magnitude between 10 and 20 km / h or between 10 and 20 is expedient % of the vehicle speed, whereby it can be specified that the larger of these two values is decisive.
  • a period of 100-300 ms, depending on the control system may be appropriate.
  • the increase in the brake pressure build-up gradient required in accordance with the invention can be brought about in a control system which controls the brake pressure with variable pulse sequences by "shortening" the pressure build-up pulse row or by temporarily switching to non-pulsed pressure build-up.
  • the rapid brake pressure build-up or pressure build-up according to the invention with an increased gradient following a pressure relief caused by diving hill can result in undesirably high yaw moments in certain situations and / or in certain vehicle designs.
  • a jumping hill in the subsequent stable phase results in a rapid pressure build-up on a front wheel, the pressure build-up on the second wheel of this axle using the same or perform approximately the same gradient. This overcomes the risk of excessive yaw moments.
  • the brake pressure gradient on the rear wheel on the same side of the vehicle is also increased, because the rear wheel also passes this jumping hill or this road disturbance becomes.
  • Fig. 2 is a flow chart to explain the operation of the system according to Fig. 1 and
  • Fig. 3 in the diagram of the wheel course and pressure course in a special control situation.
  • wheel signals Vi - v 4 are obtained from the signals from the sensors S1-S4, which in the form of electrical signals or, if the further processing takes place with the aid of program-controlled circuits, such as microcomputers, microcontrollers or the like, in the form of data are available.
  • the time derivatives of the speed signals Vx-v 4 are formed in a known manner in a signal processing circuit 3 .
  • the first and second temporal derivatives Vi - v 4 and Vj - v 4 as well as the wheel-specific slip ⁇ l - ⁇ 4, the formation of which is combined in one dindividual slip ⁇ l - ⁇ 4, for the formation of which the vehicle reference speed v REF determined in a circuit 4 is required.
  • valve block 7 comprises numerous electrically actuable hydraulic valves with which the brake pressure in the individual wheel brakes can be controlled and regulated in the desired manner.
  • Essential for the method according to the invention is an additional or computing circuit 8, which of course, if the circuit according to FIG. 1 is implemented by a program-controlled circuit, is implemented by corresponding program steps or by a subroutine.
  • this wheel reversal point is identical to the point in time of the occurrence of a re- acceleration (a R > a limit ) which is above a predetermined limit value.
  • the brake pressure is therefore built up on the front wheel concerned in the stable phase, which follows the instability phase triggered by the jumping hill, with an increased gradient compared to a "normal" anti-lock control system.
  • This increased gradient can be brought about in a control system which works with variable pulse sequences by "shortening" the pressure build-up pulse row or shortening the pulse pauses or even by transitioning to the non-pulsed pressure build-up.
  • the "jumping hill” function according to the invention is primarily used to improve the control behavior of the front wheels because, as is known, the contribution of the front wheels to braking is higher than the contribution of the rear wheels and because priority is given to the stability of the rear wheels for safety reasons. In principle, however, the measures proposed according to the invention can also be used for pressure modulation on the rear wheels.
  • the method according to the invention is based on the knowledge that the undesirable pressure relief caused by the jumping hill effect can be sensed by measuring the wheel slip and the period of time during which this wheel is in slip. Slip above 15 km / h or above 15% of the vehicle speed is critical. In one exemplary embodiment of the invention, the minimum time period which indicates the jumping hill effect is approximately 200 msec.
  • the specified limit values for the use of the special jumping hill regulation are derived from the aforementioned empirical values.
  • the wheel reversal point has proven to be particularly suitable for determining and carrying out the special control measures described.
  • the wheel runs slower than the vehicle, which means that this wheel contributes to the braking effect.
  • the pressure in the wheel brake can be controlled or increased until a stable phase is reached, in which the wheel is approximately as fast as the vehicle. It proved to be effective.
  • B. a shortening of the pressure build-up pulse series of 700 msec. to 400 ms.
  • the build-up of brake pressure with an increased gradient is only permitted if the acceleration of acceleration of the wheel exceeds a predetermined limit value a limit that exceeds a minimum value of z. B. 12 g and increases proportionally to the maximum slip ax of the wheel concerned.
  • the pressure build-up on the second wheel of the axle is simultaneously reduced subject to the same regulation scheme.
  • the pressure build-up on this second wheel will also increase shortened in order to prevent or reduce the occurrence of yaw moments due to the uneven pressure increase on the two wheels of an axle.
  • This compensation measure is achieved in the exemplary embodiment according to FIG. 1 by a compensation circuit 9, which compares the products determined individually for the two front wheels or the control measures and intervenes in the control process by activating the ABS logic circuit 5 if there is a risk that a too high yaw moment could arise.
  • step 10 first asks whether partial braking is present. If so, if this partial braking is followed by an ABS control process (11) and if a minimum re-acceleration of the affected wheel is determined (12), operation 13 starts the calculation of the product P lf2 for the front wheel concerned.
  • Fig. 3 serves to illustrate a situation in which the "jumping hill” special control to improve the ABS control behavior comes into play.
  • the upper curve almost a straight line, shows the vehicle speed or vehicle reference speed VREP.
  • the wheel or front wheel, to which v R and d R relate, is found in the control from about time t 0 .
  • An uncontrolled partial braking has preceded it.
  • a control phase begins, in which the wheel lock ⁇ V exceeds the predetermined limit value and the time period ⁇ t until re-acceleration or until the wheel is reversed at time t 2 becomes so great that the product
  • P R k ⁇ t X ⁇ ft nax exceeds a predetermined limit value. Since at this point in time t 2 the wheel re-acceleration a R is above a predetermined limit value a limit , with a limit z. B. 12 g can be carried out, after the instant t 2 there is an unpulsed pressure control and thereby a faster activation the brake pressure d R increased .
  • the pressure rise occurring in "normal" control is shown by a dashed line at t 2 and is designated d ' R. Following t 3 , the pressure d R in the wheel brake under consideration initially remains constant, which can be followed by further pressure corrections by the "normal" anti-lock control system.
  • Essential to the invention is the massive brake pressure build-up achieved by the shortened, rapid pressure increase in the time span between t 2 and t 3 , by means of which the strong brake pressure reduction caused by the jumping hill effect which occurs at time t A is reversed at an early stage and this avoids an "unnecessary" braking distance extension of the vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention vise à améliorer les caractéristiques de régulation d'un système antiblocage ABS, en particulier lors d'une forte réduction de la force de contact de la roue due à la présence sur la chaussée d'une bosse ou d'une interférence produisant un effet similaire. A cet effet, lors d'une opération de régulation effectuée par le système ABS suite à un freinage partiel, si le glissement de freinage est supérieur à une valeur seuil prédéterminée et à une durée minimale prédéterminée (Δt), un produit (P1,2) est calculé à partir du glissement de freinage maximal et du laps de temps qui s'écoule entre le début de l'instabilité (t1) et le point d'inversion (t2) de la roue. Si le produit (P1,2) est supérieur à une valeur prédéterminée (Pgrenz), la pression de freinage sur la roue concernée augmente à nouveau dans la phase de régulation stable subséquente avec un gradient plus élevé que lors d'une opération de régulation normale.
EP96924860A 1995-08-23 1996-07-03 Procede d'amelioration des caracteristiques de regulation d'un systeme antiblocage abs Withdrawn EP0844955A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE1995130902 DE19530902B4 (de) 1995-08-23 1995-08-23 Verfahren zur Verbesserung des Regelverhaltens eines Antiblockier-Systems
DE19530902 1995-08-23
PCT/EP1996/002907 WO1997008029A1 (fr) 1995-08-23 1996-07-03 Procede d'amelioration des caracteristiques de regulation d'un systeme antiblocage abs

Publications (1)

Publication Number Publication Date
EP0844955A1 true EP0844955A1 (fr) 1998-06-03

Family

ID=7770118

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96924860A Withdrawn EP0844955A1 (fr) 1995-08-23 1996-07-03 Procede d'amelioration des caracteristiques de regulation d'un systeme antiblocage abs

Country Status (4)

Country Link
EP (1) EP0844955A1 (fr)
JP (1) JPH11511411A (fr)
DE (1) DE19530902B4 (fr)
WO (1) WO1997008029A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19746573B4 (de) * 1997-10-22 2014-04-24 Continental Teves Ag & Co. Ohg erfahren und Vorrichtung zur Bremsdruckbeeinflussung
WO2001096160A1 (fr) 2000-06-16 2001-12-20 Continental Teves Ag & Co. Ohg Procede pour l'amelioration du comportement de regulation d'un systeme abs
US20040262992A1 (en) * 2001-11-26 2004-12-30 Helmut Fennel Method for improving the control behaviour of a motor vehicle comprising anti-lock braking control
FR2924081A3 (fr) * 2007-11-28 2009-05-29 Renault Sas Dispositif et procede antiblocage des roues avec un premier cycle de regulation optimise
DE102016221185A1 (de) 2015-11-04 2017-05-04 Continental Teves Ag & Co. Ohg Verfahren zur Regelung einer Bremskraft während einer ABS-Regelung und eines Auftretens einer Radaufstandskraftverringerung
EP3446937B1 (fr) * 2016-04-22 2022-11-02 Hitachi Astemo, Ltd. Dispositif de commande de pression de liquide de frein pour véhicule

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1655454A1 (de) * 1967-10-28 1971-08-12 Teldix Gmbh Fuer druckmittelbetaetigte Fahrzeugbremsen geeignetes Antiblockierregelsystem
DE3903180C2 (de) * 1989-02-03 2001-12-13 Continental Teves Ag & Co Ohg Schaltungsanordnung für eine Bremsanlage mit Blockierschutzregelung
JPH03159855A (ja) * 1989-11-16 1991-07-09 Aisin Seiki Co Ltd アンチスキツド制御装置
DE4002091A1 (de) * 1990-01-25 1991-08-01 Bosch Gmbh Robert Antiblockierregelsystem
DE4003327A1 (de) * 1990-02-05 1991-08-08 Bosch Gmbh Robert Antiblockierregelsystem
JP3047108B2 (ja) * 1990-05-18 2000-05-29 曙ブレーキ工業株式会社 車両のアンチロック制御方法
DE4027785A1 (de) * 1990-09-03 1992-03-05 Wabco Westinghouse Fahrzeug Regellogik fuer eine blockiergeschuetzte fahrzeugbremsanlage
DE4032506A1 (de) * 1990-10-12 1992-04-16 Lucas Ind Plc Verfahren zum regeln des bremsdruckes in einer blockiergeschuetzten fahrzeugbremsanlage
JP2667595B2 (ja) * 1991-05-23 1997-10-27 株式会社デンソー アンチスキッド制御装置
JP2616302B2 (ja) * 1991-09-25 1997-06-04 三菱電機株式会社 アンチスキッド制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9708029A1 *

Also Published As

Publication number Publication date
DE19530902A1 (de) 1997-02-27
DE19530902B4 (de) 2005-03-31
JPH11511411A (ja) 1999-10-05
WO1997008029A1 (fr) 1997-03-06

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