EP0876272A1 - Procede d'amelioration des caracteristiques de regulation d'un systeme de regulation de la pression de freinage - Google Patents

Procede d'amelioration des caracteristiques de regulation d'un systeme de regulation de la pression de freinage

Info

Publication number
EP0876272A1
EP0876272A1 EP97900977A EP97900977A EP0876272A1 EP 0876272 A1 EP0876272 A1 EP 0876272A1 EP 97900977 A EP97900977 A EP 97900977A EP 97900977 A EP97900977 A EP 97900977A EP 0876272 A1 EP0876272 A1 EP 0876272A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
acceleration
brake pressure
control
difference signal
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.)
Ceased
Application number
EP97900977A
Other languages
German (de)
English (en)
Inventor
Utz Lambert
Ralph Gronau
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 EP0876272A1 publication Critical patent/EP0876272A1/fr
Ceased 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
    • 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
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • 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
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/14—Rough roads, bad roads, gravel roads
    • 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
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/16—Off-road driving conditions

Definitions

  • the invention relates to a method for improving the control behavior of a
  • Brake pressure control system for motor vehicles in which the rotational behavior of the individual vehicle wheels is detected with wheel sensors and in which, by logically linking and evaluating the sensor signals, a vehicle reference speed, which approximately reflects the vehicle speed, and a vehicle reference acceleration are formed, and brake pressure control signals according to a predetermined control mode are obtained and in which the body movement or the body acceleration is measured with one or more vehicle acceleration sensors.
  • ABS Anti-lock braking systems
  • ASR traction control systems
  • FDR driving stability control systems
  • ASMS driving stability control systems
  • the brake pressure is regulated in such a way that the wheels rotate with slippage during full braking, in which both high braking forces and high lateral forces can be transmitted.
  • the vehicle remains steerable when the brakes are applied fully.
  • brake pressure control based on brake pressure control are also known.
  • traction control an attempt is made to prevent the driven wheels from spinning when the vehicle is started by braking.
  • driving stability control the vehicle should be prevented from skidding about its vertical axis by means of a targeted build-up of brake pressure.
  • control methods developed in particular for an anti-lock braking system are based on the fact that an attempt is made from the signals from the wheel sensors, which record the turning behavior of the wheels, to keep the respective wheel speed in the range of the optimal use of the coefficient of friction.
  • Vehicle-specific limit values are defined in the control algorithm, and when they occur, the brake pressure is adjusted.
  • Wheel decelerations and / or slip values are defined so that the brake pressure can be reduced if the vehicle wheels decelerate too much or enter into excessive slip, ie they have a tendency to lock. In this way, the wheel slip can be kept in the area of optimal use of the coefficient of friction.
  • the threshold values of the regulation are defined for firm, level road surfaces with a decreasing ⁇ slip curve depending on the coefficient of friction of the road.
  • Limit values for the slip to be observed can also be defined in a similar manner, a control intervention taking place if the current slip is outside the defined limit values.
  • intervention thresholds are adapted in the sense that higher slip values or acceleration thresholds are permitted or that no unjustified pressure reduction processes caused by vibrations are triggered.
  • vehicle acceleration is intended to capture both positive and negative values of the speed change.
  • the invention is based on the object of developing a method of the type mentioned at the outset which leads to an even better adaptation of the control to the respective driving situation or to the respective road conditions.
  • the invention is based on the consideration that the value of the reference acceleration calculated on the basis of the wheel sensor signals represents a time-averaged value for the entire vehicle.
  • An acceleration sensor which is connected to the vehicle body or to the vehicle chassis, measures the accelerations (vibrations) of these components.
  • the acceleration of the entire vehicle can be represented by the calculated reference vehicle acceleration. If the difference between the values provided by the acceleration sensor and the calculated reference acceleration is formed, the movement (acceleration) of the body or chassis relative to the entire vehicle can be represented.
  • event signals can be output based on which the control algorithm for brake pressure control is adapted.
  • FIG. 1 The idea of the invention is illustrated with the aid of a very schematic illustration in FIG. 1.
  • a vehicle acceleration sensor 10 is connected to the body 1 and reflects the acceleration or deceleration of the body 1 in the longitudinal direction of the vehicle. At this point it should be noted that the procedure is natural can be refined if the lateral acceleration of the vehicle is also detected.
  • the wheel sensors 6, 7, 8, 9 reproduce an angle-resolved signal, the time derivative of which represents the angular speed of the wheels or, in short, the wheel speed.
  • the vehicle acceleration (or deceleration) sensor 10 likewise delivers an acceleration signal, which, however, only reproduces the longitudinal acceleration a Kar (step 14) of the body 1.
  • This acceleration signal is not identical to the vehicle reference acceleration because it is the acceleration of the entire vehicle and additionally shows the vibrations of the body caused by uneven road surfaces and is not averaged over time. If the two signals 13, 14 are compared in a difference generator 15, a relative deceleration is obtained which represents the deceleration or acceleration (vibrations) of the body in relation to the overall vehicle. When signals are referred to in this context, it is not meant individual values, but rather a representation of the respective magnitude over time.
  • the relative signal 16 can now be analyzed with regard to its frequency and the occurring amplitudes. The following two criteria can be derived:
  • the event signal El is output.
  • the event signal E2 is output.
  • ⁇ a (determined in block 16), further criteria can also be derived.
  • the brake pressure control can now be adapted. The adjustment will go ahead everything consists in that the intervention thresholds are increased, so that higher slip values and / or deceleration values are allowed before the control system is started. It can also be provided that brake pressure reduction processes take place more slowly.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)

Abstract

Le procédé décrit sert à améliorer les caractéristiques de régulation d'un système de régulation de la pression de freinage de véhicules à moteur. La rotation des roues individuelles du véhicule est détectée par des capteurs sur roues. Une vitesse de référence du véhicule qui reproduit approximativement la vitesse du véhicule et une accélération de référence du véhicule sont calculées par enchaînement logique et évaluation des signaux des capteurs et des signaux de commande de la pression de freinage sont générés selon un mode de régulation prédéterminé. L'accélération de la carrosserie est mesurée par des capteurs de l'accélération du véhicule. La différence entre l'accélération de référence du véhicule (aref; 13) et l'accélération de la carrosserie (aKar; 14) est calculée et évaluée pour permettre de détecter les conditions de la route à un moment donné. Le mode ou algorithme de régulation est ensuite modifié en fonction du signal de différence (Δa; 16).
EP97900977A 1996-01-23 1997-01-09 Procede d'amelioration des caracteristiques de regulation d'un systeme de regulation de la pression de freinage Ceased EP0876272A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE1996102170 DE19602170A1 (de) 1996-01-23 1996-01-23 Verfahren zur Bestimmung von Fahrwegbedingungen
DE19602170 1996-01-23
PCT/EP1997/000066 WO1997027092A1 (fr) 1996-01-23 1997-01-09 Procede d'amelioration des caracteristiques de regulation d'un systeme de regulation de la pression de freinage

Publications (1)

Publication Number Publication Date
EP0876272A1 true EP0876272A1 (fr) 1998-11-11

Family

ID=7783363

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97900977A Ceased EP0876272A1 (fr) 1996-01-23 1997-01-09 Procede d'amelioration des caracteristiques de regulation d'un systeme de regulation de la pression de freinage

Country Status (4)

Country Link
EP (1) EP0876272A1 (fr)
JP (1) JP2000503277A (fr)
DE (1) DE19602170A1 (fr)
WO (1) WO1997027092A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19949286B4 (de) * 1999-10-12 2013-09-26 Robert Bosch Gmbh Vorrichtung und Verfahren zur Regelung wenigstens einer Fahrzeugbewegungsgrösse
GB2392257B (en) * 1999-10-12 2004-04-21 Bosch Gmbh Robert Device and process for regulating at least one vehicle movement quantity
JP4331881B2 (ja) * 2000-10-16 2009-09-16 トヨタ自動車株式会社 路面状態推定装置
EP2351675B1 (fr) * 2008-11-25 2014-10-01 Toyota Jidosha Kabushiki Kaisha Dispositif régulateur de marche pour véhicule
DE102012200653A1 (de) 2011-01-19 2012-07-19 Continental Teves Ag & Co. Ohg Verfahren zur Erkennung des Abseilens der Fahrzeugreferenzgeschwindigkeit
DE102013016087A1 (de) * 2013-09-27 2015-04-02 Wabco Gmbh Verfahren und System zur Steuerung eines elektronischen Bremssystems
DE102015000216A1 (de) 2014-03-11 2015-09-17 Wabco Gmbh Verfahren zur Ansteuerung von E-Motoren bei seriellen Hybridfahrzeugen oder vollelektrischen Fahrzeugen mit mindestens zwei separat angetriebenen Achsen

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60596A (ja) * 1983-06-16 1985-01-05 株式会社デンソー 路面状態識別装置
DE3345729A1 (de) * 1983-12-17 1985-06-27 Alfred Teves Gmbh, 6000 Frankfurt Verfahren und schaltungsanordnung zur unterdrueckung unerwuenschter regelvorgaenge in schlupfgeregelten bremsanlagen
US4774667A (en) * 1985-04-04 1988-09-27 Nippondenso Co., Ltd. Brake control system for vehicle
JP2544911B2 (ja) * 1986-05-09 1996-10-16 曙ブレーキ工業株式会社 アンチスキツド制御方法
DE3709483A1 (de) * 1987-03-23 1988-10-06 Bosch Gmbh Robert Antiblockierregelsystem
JP2590169B2 (ja) * 1987-12-29 1997-03-12 住友電気工業株式会社 車両の基準車輪速計算装置
DE3819424A1 (de) * 1988-06-07 1989-12-14 Lucas Ind Plc Verfahren zum regeln des bremsdruckes in einer blockiergeschuetzten fahrzeugbremsanlage
JPH03246157A (ja) * 1990-02-23 1991-11-01 Toyota Motor Corp アンチスキッド制御装置
JPH03292247A (ja) * 1990-04-10 1991-12-24 Mazda Motor Corp 車両の制動制御装置
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
DE4336080A1 (de) * 1993-10-22 1995-04-27 Bosch Gmbh Robert Antiblockierregelsystem
JP3605421B2 (ja) * 1994-01-26 2004-12-22 本田技研工業株式会社 推定車体速度算出方法
JPH07205789A (ja) * 1994-01-26 1995-08-08 Honda Motor Co Ltd 四輪駆動車のアンチロックブレーキ制御方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9727092A1 *

Also Published As

Publication number Publication date
WO1997027092A1 (fr) 1997-07-31
JP2000503277A (ja) 2000-03-21
DE19602170A1 (de) 1997-07-24

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