EP0901436A1 - Anordnung zur erfassung und auswertung von gierbewegungen - Google Patents
Anordnung zur erfassung und auswertung von gierbewegungenInfo
- Publication number
- EP0901436A1 EP0901436A1 EP97920716A EP97920716A EP0901436A1 EP 0901436 A1 EP0901436 A1 EP 0901436A1 EP 97920716 A EP97920716 A EP 97920716A EP 97920716 A EP97920716 A EP 97920716A EP 0901436 A1 EP0901436 A1 EP 0901436A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- yaw rate
- grs
- systems
- rate sensors
- motor 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.)
- Withdrawn
Links
- 238000012545 processing Methods 0.000 claims description 3
- 239000010453 quartz Substances 0.000 claims 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 3
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- 230000007547 defect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 238000000034 method Methods 0.000 description 2
- 230000002250 progressing effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
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- 230000001627 detrimental effect Effects 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
Definitions
- the invention relates to an arrangement for detecting and evaluating yaw movements of a motor vehicle, which serve as the input variable of a motor vehicle control system, with one or more yaw rate sensors and with electronic circuits for processing and evaluating the yaw movements of the force obtained with the yaw rate sensors ⁇ vehicle representing information and for generating control signals.
- Measuring and evaluating yaw movements, namely angular movements and yaw velocities around the vertical axis of a motor vehicle, is of great importance in connection with motor vehicle control systems. This applies in particular to the so-called driving stability control (FSR or ASMS, i.e. automatic stability management system).
- FSR driving stability control
- ASMS automatic stability management system
- the steering angle, the accelerator pedal position, the brake pressure and the movement behavior of the vehicle wheels are generally determined with the aid of sensors, and the target yaw movement of the vehicle is calculated from these variables.
- the one acting on the vehicle Lateral acceleration and yaw rate measured.
- the actual yaw condition of the vehicle is determined from the arithmetic link between these variables. If there is or threatens an inadmissible deviation of the actual movement from the target movement, the control system intervenes and limits the yaw movement to permissible values which are harmless to the driving stability by means of targeted brake intervention.
- Such driving stability control systems have to work with high precision and high reliability, so that the usual, natural driving behavior of the vehicle is preserved and not, for example, a premature intervention of the control system is detrimental to driving comfort or even a dangerous or irritating situation for the driver.
- the precise, reliable and error-free determination of the yaw rate is of great importance in this context. It must be ensured that erroneous yaw rate measured values are recognized before they can have an adverse effect on the control.
- the measurement of the yaw movement and the monitoring of the measuring systems are made particularly difficult by the fact that no defined vehicle movements can be generated on which the yaw rate sensors and the associated evaluation circuits could be checked or calibrated. The zero point deviation can only be corrected when the vehicle is at a standstill.
- Known driving stability control systems are based on the use of a single, relatively high-quality yaw rate sensor. This concept has the disadvantage that, after the sensor has been calibrated when the vehicle is stationary, it is no longer possible to directly recognize a slowly progressing measurement deviation. Such "creeping" defects can result from certain component defects in the sensor or in the Evaluation circuits, for example as a result of faulty capacitors, open, high-resistance semiconductor inputs, loose contacts etc. occur.
- detours which are obtained from auxiliary variables and through logical combinations and are only indirectly related to the yaw movement.
- the detection mechanism reacts with a relatively low resolution and with greater inertia or delay than would be the case with a direct comparison method.
- the invention is therefore based on the object of overcoming the described disadvantages of known systems and sensors and of developing an arrangement of the type mentioned at the outset which makes it possible to detect the yawing movement of a motor vehicle with high precision and high operational reliability, and to this end to keep the required effort low in comparison to known systems. Fast and reliable error detection should be guaranteed.
- two compass systems which are arranged spatially separated on the vehicle, are used in connection with the yaw rate sensors, the information supplied by the two compass systems with the yaw rate sensor or sensors being used to record the yaw movements delivered information are compared. It is particularly favorable to arrange one of the two compass systems on the bow of the vehicle and the other on the rear of the vehicle. Special information can then be obtained from the chronological succession of the occurrence of the compass output signals in connection with the vehicle movement and direction of travel, as will be described in more detail below.
- An essential feature of the arrangement according to the invention is that there are several mutually independent measuring channels based on the yaw rate sensors and the compass systems and provide output signals or information which, by comparison and logical combination, reliably monitors the functioning of the individual measuring channels and the early stage Detect different errors, also allow so-called creeping errors.
- Fig. 1 in a symbolic perspective view of a vehicle and its vertical axis, which is the reference axis for the yaw movement, and
- FIG. 2 shows a schematic representation of the basic arrangement of the measuring channels in relation to the driving level of a motor vehicle.
- yaw movement of a vehicle 1 which is defined as a rotational movement about the vertical axis Z of the vehicle in the direction of the arrow GR.
- Yaw movement, yaw rate, yaw acceleration and yaw moment have an influence on the driving stability of a motor vehicle and are therefore input variables of motor vehicle control systems.
- the present invention is based on a modified concept for yaw rate sensing.
- compass systems in connection with one or more yaw rate sensors and using several of each other independent measuring channels will ultimately achieve a significant simplification and improvement of yaw rate sensing.
- FIG. 2 schematically shows the structure of a motor vehicle 1 with an arrangement of the type according to the invention. With an arrow R, the direction of travel is symbolic
- VL denote the front wheels
- HL the rear wheels of a vehicle.
- the arrangement according to the invention comprises a yaw rate sensor GRS and two compass systems KB, KH, of which one compass system KB is arranged in the bow of the vehicle and the other compass system KH is arranged in the rear of the vehicle.
- the (processed) output signals of the yaw rate sensor GRS and the two compass systems are processed and evaluated in a processor, namely a microcomputer or microcomputer system.
- a processor namely a microcomputer or microcomputer system.
- Such regulators or control systems based on complex microcomputers or microcomputer systems are commonplace in today's automotive control technology.
- 2 shows a signal processing stage SCU which is to be understood as part of the electronics of a driving stability control system.
- An essential feature of the arrangement according to the invention is the simultaneous use of several mutually independent measuring channels.
- these are the measuring channels with the two compass systems KB and KH and with the yaw rate sensor GRS.
- the function of the measuring channels is monitored.
- the spatially offset arrangement of the compass systems KB and KH in the direction of travel R - on the one hand in the rear of the vehicle (KH), on the other hand in the bow (KB) - a compass mismatch can be reliably recognized if the direction of travel is taken into account.
- the yaw rate of the vehicle is continuously calculated from the output signals of the compass systems and this is then compared with the time-associated measured values of the yaw rate sensor GRS.
- a variant consists in that in the event of a total sensor failure occurring during a control, which is of course also recognized by the use of the parallel, mutually independent measuring channels, the control system for an emergency running time based on the information and signals, which the intact sensor or the intact compass system deliver can be operated alone.
- the arrangement according to the invention thus has advantages in terms of operational reliability due to the use of the additional compass systems.
- a high precision of the yaw rate measurement is given due to the use of the yaw rate sensor; the whole is achieved with relatively little technical effort and manufacturing effort.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19621320A DE19621320A1 (de) | 1996-05-28 | 1996-05-28 | Anordnung zur Erfassung und Auswertung von Gierbewegungen |
DE19621320 | 1996-05-28 | ||
PCT/EP1997/001956 WO1997045304A1 (de) | 1996-05-28 | 1997-04-18 | Anordnung zur erfassung und auswertung von gierbewegungen |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0901436A1 true EP0901436A1 (de) | 1999-03-17 |
Family
ID=7795459
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97920716A Withdrawn EP0901436A1 (de) | 1996-05-28 | 1997-04-18 | Anordnung zur erfassung und auswertung von gierbewegungen |
Country Status (5)
Country | Link |
---|---|
US (1) | US6249721B1 (de) |
EP (1) | EP0901436A1 (de) |
JP (1) | JP2000513435A (de) |
DE (1) | DE19621320A1 (de) |
WO (1) | WO1997045304A1 (de) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19744725A1 (de) * | 1997-10-10 | 1999-04-15 | Itt Mfg Enterprises Inc | Verfahren zum Bestimmen von Zustandsgrößen eines Kraftfahrzeuges |
DE19811547A1 (de) * | 1998-03-18 | 1999-09-23 | Itt Mfg Enterprises Inc | Sensormodul |
DE19817686A1 (de) | 1998-04-21 | 1999-10-28 | Wabco Gmbh | Verfahren zur Bestimmung einer Vergleichsgröße |
DE19936434A1 (de) * | 1999-02-18 | 2003-01-09 | Continental Teves Ag & Co Ohg | Verfahren und Vorrichtung zur Überwachung einer Mehrzahl von einen Prozeß erfassenden Sensoren, insbesondere für ein ESP-System für Fahrzeuge |
DE19960101B4 (de) * | 1999-12-14 | 2016-03-10 | Continental Automotive Gmbh | Verfahren zur vorausschauenden Bestimmung eines Fahrkorridors eines Kraftfahrzeuges für ein automatisches Abstandsregel- und/oder kontrollsystem |
DE10040511A1 (de) * | 2000-03-09 | 2001-09-20 | Continental Teves Ag & Co Ohg | Anordnung und Vorrichtung zur Erfassung von Gierbewegungen |
DE50108313D1 (de) | 2000-03-09 | 2006-01-12 | Continental Teves Ag & Co Ohg | Anordnung und vorrichtung zur erfassung von gierbewegungen mittels redundanter messkanäle |
US6982178B2 (en) | 2002-06-10 | 2006-01-03 | E Ink Corporation | Components and methods for use in electro-optic displays |
US7561324B2 (en) | 2002-09-03 | 2009-07-14 | E Ink Corporation | Electro-optic displays |
CN102789764B (zh) | 2001-11-20 | 2015-05-27 | 伊英克公司 | 驱动双稳态电光显示器的方法 |
JP4651383B2 (ja) | 2002-06-13 | 2011-03-16 | イー インク コーポレイション | 電気光学表示装置の駆動の方法 |
DE10333323B4 (de) * | 2002-07-12 | 2009-09-10 | Continental Teves Ag & Co. Ohg | Verfahren zur Ausfallerkennung von Sensoren, insbesondere für ein ESP System für Fahrzeuge |
WO2004088395A2 (en) | 2003-03-27 | 2004-10-14 | E Ink Corporation | Electro-optic assemblies |
EP2947647A3 (de) | 2003-06-30 | 2015-12-16 | E Ink Corporation | Verfahren zur ansteuerung elektrooptischer anzeigen |
EP2698784B1 (de) | 2003-08-19 | 2017-11-01 | E Ink Corporation | Elektrooptischer Bildschirm |
EP1680774B9 (de) | 2003-11-05 | 2018-05-16 | E Ink Corporation | Elektrophoretisches medium für elektro-optische bildschirme |
WO2005054933A2 (en) | 2003-11-26 | 2005-06-16 | E Ink Corporation | Electro-optic displays with reduced remnant voltage |
US7831354B2 (en) * | 2004-03-23 | 2010-11-09 | Continental Teves, Inc. | Body state estimation of a vehicle |
US7031816B2 (en) * | 2004-03-23 | 2006-04-18 | Continental Teves, Inc. | Active rollover protection |
US7369927B2 (en) * | 2004-04-02 | 2008-05-06 | Continental Teves, Inc. | Active rollover protection utilizing steering angle rate map |
US7239952B2 (en) * | 2004-12-08 | 2007-07-03 | Continental Teves, Inc. | Reduced order parameter identification for vehicle rollover control system |
US7557697B2 (en) * | 2005-02-22 | 2009-07-07 | Continental Teves, Inc. | System to measure wheel liftoff |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3816718A (en) * | 1972-11-24 | 1974-06-11 | Collins Radio Co | Synthesis of fail operational heading information (course datum) from nonfail operational input signals |
GB2158579B (en) * | 1984-01-23 | 1988-07-13 | Piezoelectric Technology Inves | Angular rate sensor system |
DE4009355A1 (de) * | 1990-03-23 | 1991-09-26 | Teves Gmbh Alfred | Schaltungsanordnung fuer ein kraftfahrzeug mit blockierschutz- und/oder antriebsschlupfregelung |
JPH0416710A (ja) * | 1990-05-11 | 1992-01-21 | Matsushita Electric Ind Co Ltd | 方位検出装置 |
DE4108807C2 (de) * | 1991-03-18 | 1994-09-01 | Litef Gmbh | Mehrachsige faseroptische Drehratensensoranordnung |
JPH05170120A (ja) | 1991-03-20 | 1993-07-09 | Hitachi Ltd | 車両のヨー運動量検出装置及びその方法、並びにこれを利用した車両の運動制御装置 |
JP3385688B2 (ja) * | 1993-12-13 | 2003-03-10 | 株式会社デンソー | 半導体ヨーレートセンサおよびその製造方法 |
DE4436162C1 (de) * | 1994-10-10 | 1996-03-21 | Siemens Ag | System zum Regeln der Fahrstabilität eines Kraftfahrzeugs |
-
1996
- 1996-05-28 DE DE19621320A patent/DE19621320A1/de not_active Ceased
-
1997
- 1997-04-18 US US09/194,632 patent/US6249721B1/en not_active Expired - Fee Related
- 1997-04-18 EP EP97920716A patent/EP0901436A1/de not_active Withdrawn
- 1997-04-18 JP JP09541445A patent/JP2000513435A/ja not_active Withdrawn
- 1997-04-18 WO PCT/EP1997/001956 patent/WO1997045304A1/de not_active Application Discontinuation
Non-Patent Citations (1)
Title |
---|
See references of WO9745304A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE19621320A1 (de) | 1997-12-11 |
JP2000513435A (ja) | 2000-10-10 |
US6249721B1 (en) | 2001-06-19 |
WO1997045304A1 (de) | 1997-12-04 |
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