EP1152913A1 - Procede et dispositif de regulation du patinage a l'acceleration d'un vehicule en fonction du rayon de courbure et de l'acceleration transversale - Google Patents
Procede et dispositif de regulation du patinage a l'acceleration d'un vehicule en fonction du rayon de courbure et de l'acceleration transversaleInfo
- Publication number
- EP1152913A1 EP1152913A1 EP00983045A EP00983045A EP1152913A1 EP 1152913 A1 EP1152913 A1 EP 1152913A1 EP 00983045 A EP00983045 A EP 00983045A EP 00983045 A EP00983045 A EP 00983045A EP 1152913 A1 EP1152913 A1 EP 1152913A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rad
- slip
- lamb
- radius
- curve
- 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- Withdrawn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
- 230000001133 acceleration Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 15
- 201000005947 Carney Complex Diseases 0.000 claims description 10
- 235000019687 Lamb Nutrition 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 9
- 230000001419 dependent effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009987 spinning Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002265 prevention Effects 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
- B60T8/175—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
- 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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
-
- 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
- B60T2210/24—Curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
Definitions
- the inventive method and the device according to the independent claims 1 and 8 have the advantage that the threshold value for the slip in the transverse direction to the motor vehicle is determined as a function of the radius of the curve of the road. When cornering, the wheel on the inside of a drive axle is relieved relatively strongly, so that it has a greater slip value than the wheel on the outside of the curve.
- Fixed thresholds have the
- control system determines a weighting factor for determining the slip.
- road conditions for example country roads with different orders or highways with their different properties, can be better taken into account with regard to the trafficability.
- the dependency of the weighting factor as a function of a straight line can be easily realized with a software program and advantageously does not require a large amount of memory.
- FIG. 1 shows a block diagram of the device according to the invention and FIG. 2 shows a diagram for determining the weighting factor G.
- control device 4 is part of the traction control system (ASR device).
- ASR device traction control system
- the control device 4 is preferably designed in the form of a software program and integrated in the control program for the ASR device 6.
- the ASR device 6 is with its individual assemblies such as filters, microcomputers, comparison rather, memory etc. known per se, therefore need not be explained in more detail.
- the ASR device 6 supplies corresponding control signals for actuating the individual separately controllable brake cylinders or for throttling the torque of the drive motor, in comparison to the calculated slip thresholds.
- the aim is that the vehicle has stable lane guidance even when cornering, without the front part or the rear breaking out and the vehicle becoming uncontrollable for the driver due to rotation about the yaw axis.
- ASR traction control system
- the driven wheel on the inside of the curve is braked or, if necessary, the traction is limited by reducing the drive torque of the engine.
- the vehicle stabilizes itself automatically under certain conditions without the driver having to intervene. Since the wheel on the inside of the curve is relieved of load when cornering due to the lateral acceleration, it experiences greater slip than on the wheel on the outside of the curve.
- the slip of the wheel on the inside of the curve is not relevant to safety, since this wheel has little or no cornering. For this reason, it is not necessary to reduce the drive torque in every case. According to the invention, it is therefore provided to increase the slip threshold for the driven inner wheel depending on the lateral acceleration according to the following formula:
- the new slip threshold LAMB AY obtained in this way which was expanded via the lateral acceleration AY B, is now weighted with a weighting factor G depending on the curve radius determined.
- FIG. 2 shows the weighting function for the weighting factor G as a function of the radius R of the road curve.
- the weighting function for the weighting factor G is a straight line with a negative profile, which is formed by the following formula:
- This formula represents the weighted slip for the driven wheel on the inside of the curve.
- the weighting factor is determined using the formula:
- a Y is the lateral acceleration
- AY FAK is the slope of the line equation and is preferably determined empirically
- OFF RAD is the offset value dependent on the radius (Y intercept),
- STEI RAD is the radius-dependent slope of the straight line R is the curve radius.
- the slip threshold is always adapted to the current lateral acceleration of the vehicle or the vehicle speed and the course of the road. This allows maximum torque to be transmitted to the road without the risk of the vehicle breaking away.
- control device 4 it is provided to connect the control device 4 together with the ASR device 6 or an anti-lock braking system ABS in order to construct the entire driving dynamics concept as simply and inexpensively as possible.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
La présente invention concerne un procédé ou un dispositif servant à la régulation du patinage à l'accélération d'un véhicule. Dans ledit procédé, le patinage de la roue motrice du véhicule, située à l'intérieur de la courbe est régulé uniquement lorsque le patinage dépasse une valeur de patinage seuil prédéterminée. La valeur de patinage seuil prédéterminée est cependant pondérée par un facteur de pondération (G) sous forme d'un fonction de l'accélération transversale et du rayon de courbure (R) ainsi déterminé. Le facteur de pondération (G) est pour cela prédéterminé au moyen d'une équation de manière à ce qu'il soit inversement proportionnel au rayon de courbure (R) de la route.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19958772A DE19958772B4 (de) | 1999-12-07 | 1999-12-07 | Verfahren und Vorrichtung zur Antriebsschlupfregelung (ASR) eines Kraftfahrzeugs in Abhängigkeit von Kurvenradius und Querbeschleunigung |
DE19958772 | 1999-12-07 | ||
PCT/DE2000/003691 WO2001042039A1 (fr) | 1999-12-07 | 2000-10-20 | Procede et dispositif de regulation du patinage a l'acceleration d'un vehicule en fonction du rayon de courbure et de l'acceleration transversale |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1152913A1 true EP1152913A1 (fr) | 2001-11-14 |
Family
ID=7931604
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00983045A Withdrawn EP1152913A1 (fr) | 1999-12-07 | 2000-10-20 | Procede et dispositif de regulation du patinage a l'acceleration d'un vehicule en fonction du rayon de courbure et de l'acceleration transversale |
Country Status (6)
Country | Link |
---|---|
US (1) | US6564138B1 (fr) |
EP (1) | EP1152913A1 (fr) |
JP (1) | JP4728550B2 (fr) |
CN (1) | CN1269666C (fr) |
DE (1) | DE19958772B4 (fr) |
WO (1) | WO2001042039A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100439168C (zh) * | 2004-06-07 | 2008-12-03 | 日产自动车株式会社 | 用于车辆的车辆转弯运动控制装置及方法 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10160069A1 (de) * | 2000-12-30 | 2002-09-19 | Bosch Gmbh Robert | System und Verfahren zur Steuerung und/oder Regelung des Fahrverhaltens eines Kraftfahrzeugs |
JP2004527413A (ja) | 2001-03-20 | 2004-09-09 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 制御される自動車ブレーキシステムの制御応答を改善する方法 |
DE10238221B4 (de) * | 2002-03-27 | 2011-08-11 | Robert Bosch GmbH, 70469 | Antriebsschlupfregelung mit individueller Absenkung der Schlupfschwelle des kurvenäußeren Antriebsrades |
JP2003301733A (ja) * | 2002-03-28 | 2003-10-24 | Robert Bosch Gmbh | 駆動スリップ制御装置および方法 |
JP2003312289A (ja) * | 2002-04-23 | 2003-11-06 | Toyoda Mach Works Ltd | 4輪駆動車 |
CA2520539A1 (fr) * | 2003-03-27 | 2004-10-07 | Torotrak (Development) Ltd. | Procede de commande d'une transmission a changement de vitesses continu |
DE102004004992B4 (de) * | 2004-01-30 | 2008-03-13 | Lucas Automotive Gmbh | Verfahren zum Betreiben der Bremsausrüstung eines Fahrzeugs |
DE102004021174A1 (de) * | 2004-04-30 | 2005-11-24 | Daimlerchrysler Ag | Verfahren zum Steuern einer sicherheitsrelevanten Komponente eines Kraftfahrzeugs und Kraftfahrzeug mit einem präventiv auslösenden Sicherheitssystem |
JP4371270B2 (ja) * | 2005-03-31 | 2009-11-25 | 株式会社日立製作所 | 車両駆動力装置 |
US7966113B2 (en) * | 2005-08-25 | 2011-06-21 | Robert Bosch Gmbh | Vehicle stability control system |
JP4742818B2 (ja) | 2005-11-07 | 2011-08-10 | 日産自動車株式会社 | 車両用減速制御装置 |
US7641014B2 (en) * | 2006-01-31 | 2010-01-05 | Robert Bosch Gmbh | Traction control system and method |
JP4333729B2 (ja) * | 2006-11-21 | 2009-09-16 | トヨタ自動車株式会社 | 車両挙動制御装置 |
CN101691116B (zh) * | 2009-11-06 | 2012-08-01 | 唐山轨道客车有限责任公司 | 内燃动车的加速度牵引控制方法 |
US9067573B2 (en) | 2013-07-03 | 2015-06-30 | Wabco Europe Bvba | Method, system and device for controlling a vehicle brake system |
DE102014210062A1 (de) | 2014-05-27 | 2015-12-03 | Continental Teves Ag & Co. Ohg | Verfahren zur Einstellung einer Schlupfschwelle und Fahrdynamik-Regeleinrichtung |
DE102016101522B4 (de) * | 2016-01-28 | 2020-08-06 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Kompensation des Querbeschleunigungs-Einflusses auf Bremsrückschaltpunkte |
Family Cites Families (17)
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DE3546571A1 (de) * | 1985-12-21 | 1987-10-01 | Daimler Benz Ag | Einrichtung zur vortriebsregelung an kraftfahrzeugen |
DE3545716A1 (de) * | 1985-12-21 | 1987-06-25 | Daimler Benz Ag | Einrichtung zur vortriebsregelung an kraftfahrzeugen |
DE3612170A1 (de) * | 1986-04-11 | 1987-10-15 | Daimler Benz Ag | Einrichtung zur vortriebs-regelung fuer ein kraftfahrzeug mit allradantrieb |
JP2618250B2 (ja) * | 1987-12-22 | 1997-06-11 | 富士重工業株式会社 | トラクション制御装置 |
DE3933653B4 (de) * | 1989-10-09 | 2004-05-27 | Robert Bosch Gmbh | Radschlupfregelsystem |
JPH03132459A (ja) * | 1989-10-17 | 1991-06-05 | Tokico Ltd | トラクションコントロール装置 |
DE4031707C2 (de) * | 1990-10-06 | 2000-08-03 | Continental Teves Ag & Co Ohg | Schaltungsanordnung für eine Bremsanlage mit Blockierschutz- oder Antriebsschlupfregelung |
JP2917534B2 (ja) * | 1991-01-29 | 1999-07-12 | 日産自動車株式会社 | 車両用トラクション制御装置 |
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JPH0516780A (ja) * | 1991-07-15 | 1993-01-26 | Mazda Motor Corp | 車両のスリツプ制御装置 |
JP2882151B2 (ja) * | 1991-12-25 | 1999-04-12 | 日産自動車株式会社 | 車両用トラクション制御装置 |
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DE4421565A1 (de) * | 1994-06-20 | 1995-12-21 | Teves Gmbh Alfred | Schaltungsanordnung für eine Bremsanlage mit BASR |
JP3116738B2 (ja) * | 1994-07-28 | 2000-12-11 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JPH08164836A (ja) * | 1994-12-15 | 1996-06-25 | Nisshinbo Ind Inc | アンチスキッド制御方法 |
EP0844129B1 (fr) * | 1996-11-13 | 2003-08-27 | Honda Giken Kogyo Kabushiki Kaisha | Système de commande de couple de lacet |
US6494281B1 (en) | 1998-04-07 | 2002-12-17 | Robert Bosch Gmbh | Method and device for stabilizing a vehicle |
-
1999
- 1999-12-07 DE DE19958772A patent/DE19958772B4/de not_active Expired - Lifetime
-
2000
- 2000-10-20 JP JP2001543354A patent/JP4728550B2/ja not_active Expired - Fee Related
- 2000-10-20 EP EP00983045A patent/EP1152913A1/fr not_active Withdrawn
- 2000-10-20 CN CNB008035393A patent/CN1269666C/zh not_active Expired - Fee Related
- 2000-10-20 WO PCT/DE2000/003691 patent/WO2001042039A1/fr not_active Application Discontinuation
- 2000-10-20 US US09/890,834 patent/US6564138B1/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO0142039A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100439168C (zh) * | 2004-06-07 | 2008-12-03 | 日产自动车株式会社 | 用于车辆的车辆转弯运动控制装置及方法 |
Also Published As
Publication number | Publication date |
---|---|
CN1338998A (zh) | 2002-03-06 |
DE19958772B4 (de) | 2011-07-21 |
DE19958772A1 (de) | 2001-06-13 |
CN1269666C (zh) | 2006-08-16 |
JP4728550B2 (ja) | 2011-07-20 |
JP2003523865A (ja) | 2003-08-12 |
US6564138B1 (en) | 2003-05-13 |
WO2001042039A1 (fr) | 2001-06-14 |
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