EP1313636A1 - Verfahren zum betreiben eines kraftfahrzeugregelungssystems und vorrichtung zur durchführung des verfahrens - Google Patents
Verfahren zum betreiben eines kraftfahrzeugregelungssystems und vorrichtung zur durchführung des verfahrensInfo
- Publication number
- EP1313636A1 EP1313636A1 EP01960696A EP01960696A EP1313636A1 EP 1313636 A1 EP1313636 A1 EP 1313636A1 EP 01960696 A EP01960696 A EP 01960696A EP 01960696 A EP01960696 A EP 01960696A EP 1313636 A1 EP1313636 A1 EP 1313636A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- actuation
- signal
- request
- vehicle
- operating
- 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- Withdrawn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
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000000694 effects Effects 0.000 claims abstract description 3
- 230000004048 modification Effects 0.000 claims description 23
- 238000012986 modification Methods 0.000 claims description 23
- 230000008859 change Effects 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 9
- 238000005265 energy consumption Methods 0.000 claims description 6
- 230000003111 delayed effect Effects 0.000 claims description 5
- 230000001419 dependent effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 230000006870 function Effects 0.000 description 11
- 238000001914 filtration Methods 0.000 description 9
- 238000011156 evaluation Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 208000003028 Stuttering Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012546 transfer 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
Definitions
- the invention relates to a method for operating one or more motor vehicle control systems which can be arranged in a motor vehicle, in particular comprising at least one setpoint generator, at least one electrical or electronic controller, and at least one control system which is associated with at least one actuator, in particular for actuation a controlled brake system, for the actuation of an electrical or electromechanical steering or for the actuation of similar driver assistance systems.
- Motor vehicle control systems are characterized by the property of supporting a vehicle driver in the control of complex actuation processes. In many cases, these are safety-relevant brake actuation processes, with a control intervention, for example in brake-by-wire applications, being carried out in a specific manner based on a braking request using external energy.
- EMS electro-hydraulic brake systems
- BA brake assist
- ESP driving stability control
- assistance systems such as a braking system or a steering system perform safety-relevant functions, their availability is of paramount importance. On the other hand, high availability is also expected with regard to subordinate comfort functions.
- the energy management of the vehicle control system is to be improved.
- the object is essentially achieved in that the manner in which one or more vehicle control systems are actuated is evaluated as a function of predeterminable operating states or as a function of a boundary condition (s) that characterize an operating state, and that a control intervention is dependent on the evaluation of the Operation is carried out.
- actuation commands are not simply processed slavishly, but are implemented in a modified manner depending on the operating state and / or boundary conditions. In the context of energy management, this enables flexible use of the available resources without endangering the function or availability of individual competing systems. In the event of a shortage of energy, there is in particular no deactivation of low-ranking (comfort) functions.
- the operating method according to the invention also has positive effects on the construction of a device for carrying out the method.
- an electro-hydraulic brake system (EHB brake system) is known, which has a brake cylinder for setting a setpoint, a pressure medium accumulator for receiving a pressure medium and a pump for increasing the pressure of the pressure medium accumulator. If the brake If - for example when the vehicle is at a standstill - repeated operation with a high frequency (e.g. greater than 1 Hz), this leads to maximum pressure medium consumption and correspondingly maximum energy consumption due to frequent pressure build-up and pressure reduction processes in the pressure medium accumulator.
- a high frequency e.g. greater than 1 Hz
- the system is oversized for the vast majority of all conventional actuation cases, only so that the described - unreasonable - actuation request is covered.
- the invention intervenes in that an evaluation of the signal characterizing an actuation request is carried out, and only then is there any modified control intervention based on the evaluation.
- the invention is inexpensive because it can be implemented essentially on a software basis and, for example, does not require any expensive hardware replacement as part of a retrofit. An implementation of further developed control strategies is easily possible using a software update.
- the invention not only reduces the stress on the electrical system by suppressing or modifying the consequences of certain actuation requests, but also enables the hardware capacity to be kept to be reduced. Because a reduction in costs, size and weight of components such as pressure medium accumulator and pump is made possible by an actuation request being interpreted as a control intervention in a reasonable way, taking into account the boundary conditions, so to speak. Possibilities of abuse are consequently restricted.
- the temporal course of a signal characterizing an actuation request from the setpoint generator is recorded, a variable characterizing a vehicle operating state for evaluating the signal being applied to the regulator, and a modification of an output signal of the regulator depending on the evaluation of the signal for the rule intervention. This enables an investigation of the actuation request and a sensible implementation based on this investigation, for example of a braking request.
- the controller is supplied with variables which in particular characterize a degree of filling of a pressure medium store or the pressure medium temperature. This makes it possible to use a particularly pressure-medium-saving and consequently energy-saving mode of operation, for example when the pressure-medium reservoir is almost empty and low pressure-medium temperatures, without questioning the function of the control system itself.
- the signal modification results in a reduced energy consumption of the actuator, so that this resource can be used efficiently.
- the reduction in consumption results as a result of a reduced power consumption, a reduced intensity (in the operation of the consumer) or as a result of the reduction of another characteristic that influences consumption.
- the actuation speed and / or the actuation frequency is recorded, with a speed value above or above a limit value a frequency modification is carried out above a limit value and the detection of a predetermined operating state.
- the inclusion of these parameters is advantageous for signal evaluation.
- the signal modification can result in a weakened or delayed or suppressed control intervention with a corresponding response from the vehicle.
- the signal from the setpoint generator is treated by means of a filter, in particular a low-ass filter. This helps to remove unwanted high-frequency signal components (e.g. noise, misuse).
- the output signal of the controller may differ from a conventional actuation case (normal case) in terms of course and amplitude due to special driving situations / operating conditions.
- the control signal of the controller can be released from a setpoint input by the driver.
- the frequency of the modified signal fed to the actuator is weakened, delayed or suppressed when an actuation request is made with an actuation frequency above, for example, approximately 1 Hz and the vehicle is at a standstill or approximately at a standstill. For example, this prevents nonsensical volume or energy consumption caused by "nervous" or too fast pedal actuation.
- the amplitude of the modified signal (control intervention) transmitted to the actuator is limited to a predeterminable limit value at an actuation frequency above, for example, about 1 Hz and the vehicle standing or nearly standing still. This makes it possible to avoid overstressing the device or parts of the device as a result of continued pressure pulsations.
- a signal modification can be set if a change in the operating state or a change in the driver's request is sensed.
- a means for examining and / or modifying the time profile of a signal characterizing an actuation request is provided.
- This is preferably a filter which can be set as a function of the predeterminable operating states and which is provided inexpensively in the form of a software filter.
- the filter has basically a low-pass character, so that high-frequency signal components are suppressed or at least inhibited.
- the filter can be adaptively adaptable, and a learning mode can be provided to adapt to the operating habits of a vehicle driver. Description of exemplary embodiments
- a brake by wire brake system comprises an interface (pedal) for actuating a setpoint generator (master cylinder) with appropriate sensors for detecting a signal representing a braking request, further comprising an electrical or electronic controller (ECU) with a stored computer program, and a controlled system ( Wheel brake), to which several electromagnetically actuable hydraulic valves are preferably assigned as an actuator.
- ECU electrical or electronic controller
- Wheel brake Wheel brake
- the assistance system In addition to the state of the actuation request, the assistance system also records or monitors the operating states of the vehicle. For example, a distinction can be made between vehicle standstill and driving. Depending on the requirements and the sensors used, there are other operating states (e.g. cornering), or a finer resolution (eg with regard to driving speed) can be seen.
- the manner of a signal characterizing an actuation request is monitored and evaluated, so that the effect of the actuation request on the controlled system can be modified depending on the operating state. For example, there may be completely nonsensical actuation requests for certain operating conditions, which are based on misuse of the system.
- a signal modification can result in a reduced energy consumption of the actuator. Furthermore, the actuation speed and / or the actuation frequency can be detected on the basis of the signal from the setpoint generator, so that a signal modification takes place when a speed value is above a limit value or a frequency value is above a limit value and a predetermined operating state is recognized. It is understood that the limit values mentioned can be set / stored in advance.
- the signal modification can cause a weakened, delayed or suppressed control grip is done. In extreme cases, the system completely releases the braking request.
- filtering can be carried out using a low-pass filter. It goes without saying that the design of the filter influences the control quality and that system stability has priority in all cases.
- the signal modification can be in the form of a processing of the course and / or amplitude of the signal to be supplied to the actuator. The signal processing can be varied and take place in adaptation to the respective situation / operating state.
- the frequency of the signal supplied to the actuator can be weakened, delayed or suppressed at an actuation frequency above, for example, approximately 1 Hz and the vehicle being at a standstill or almost at a standstill.
- a signal modification is terminated if a change in the operating state (for example a transition from a stationary vehicle to a moving vehicle) or a change in the driver's request (for example a transition from high-frequency actuation to setting a braking request) is detected.
- a change in the operating state for example a transition from a stationary vehicle to a moving vehicle
- a change in the driver's request for example a transition from high-frequency actuation to setting a braking request
- Variant 1 When operating a controlled brake system, e.g. of an EMS brake system with a higher frequency (e.g. 3 Hz) than is advisable in a given situation (e.g. 1 Hz when the vehicle is stationary), the signal from the setpoint generator is filtered (e.g. by 1st order low-pass filter).
- a controlled brake system e.g. of an EMS brake system with a higher frequency (e.g. 3 Hz) than is advisable in a given situation (e.g. 1 Hz when the vehicle is stationary)
- the signal from the setpoint generator is filtered (e.g. by 1st order low-pass filter).
- Variant 2 When actuated with a higher frequency (e.g. 3 Hz) than is useful in a given situation (e.g. 1 Hz at standstill), the amplitude of the modified signal is changed to a situation-dependent value (modified target brake pressure, modified Target braking torque, modified target deceleration, etc.) reduced to an associated, correspondingly determined value (eg target deceleration of 0.3 g at standstill).
- a higher frequency e.g. 3 Hz
- a given situation e.g. 1 Hz at standstill
- Variant 3 When actuated with a higher frequency (e.g. 3 Hz) than is useful in a given situation (e.g. 1 Hz at standstill), the modified signal is switched to a second predetermined situation-dependent frequency (e.g. 1 Hz at standstill) reduced. If the driver operates with 3 Hz at a standstill, the controller outputs a frequency of 1 Hz for the specification of the wheel pressure setpoints.
- a higher frequency e.g. 3 Hz
- a second predetermined situation-dependent frequency e.g. 1 Hz at standstill
- the variants are preferably carried out in such a way that the haptic reaction to the driver is minimal and thus remains largely unnoticed by the driver.
- the execution of the signal modification is terminated if, for example, either the actuation frequency per Time unit becomes smaller again (eg less than or equal to 1 Hz) or if it is recognized that the driver wants to start driving. This is possible, for example, by evaluating an accelerator pedal actuation or the engine torque. If a wheel brake pressure (residual braking torque) according to variant 2 were to be found in the wheel brakes, this would be reduced quickly so that the driver can drive off without braking.
- the actuation frequency per Time unit becomes smaller again (eg less than or equal to 1 Hz) or if it is recognized that the driver wants to start driving. This is possible, for example, by evaluating an accelerator pedal actuation or the engine torque. If a wheel brake pressure (residual braking torque) according to variant 2 were to be found in the wheel brakes, this would be reduced quickly so that the driver can drive off without braking.
- the invention can also be used in the case of high-frequency interference if, for example, the actuation unit issues a driver request at high frequency, even if the driver does not actuate himself.
- the reason for this can be, for example, a jogging path or if a return spring in a pedal actuation unit becomes weaker due to fatigue, so that braking requests are erroneously detected due to the vibrating brake pedal on bumpy roads (frequency e.g. greater than 3 Hz - the pedal swings back and forth). If it is recognized that a braking request cannot come from the driver (e.g. actuation above 5 Hz), the signal is completely suppressed, for example by means of filtering (low-pass filter).
- the filter parameters can be provided to be adjustable, an adaptive adaptation having proven to be particularly advantageous.
- filter characteristic values are changed as a function of specific operating states or operating states.
- An essential operating state in this context is the degree of filling of the pressure medium reservoir and it is advisable to use a stronger, that is to say intervention at lower frequencies, filtering when the pressure medium reservoir is almost empty. Conversely, when the memory is completely full, less filtering can be used. be taken. As the degree of filling increases, there is less filtering (reduction of the time constant).
- the pressure medium filling degree has priority, ie a strong filtering takes place.
- the degree of filling of the pressure medium accumulator can also be taken into account in combination with the consideration of the direction of actuation, so that, with a low degree of filling and a reduction in the braking request, stronger filtering takes place than with a high degree of filling and brake actuation. Furthermore, a combination of taking into account the degree of filling with the currently existing wheel brake pressure is conceivable, the filtering being set in such a way that a brake release request is implemented more slowly than a brake request.
- a filter provided with a learning mode which allows filter parameters to be adapted to the operating habits of a vehicle driver, enables particularly simple operation.
- the learning mode is permanently activated so that, for example, a driver change can be automatically recognized and the changed operating habits can be taken into account in the controller.
- the invention can be transferred to all electrical actuating devices in motor vehicles, for example to a steer-by-wire or a brake-by-wire device.
- the invention leads to a reduction in the consumption of liquid (hydraulics) or electrical energy (electricity), which in turn enables the system to be designed at low cost.
Abstract
Description
Claims
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10041207 | 2000-08-22 | ||
DE10041207 | 2000-08-22 | ||
DE10055823 | 2000-11-10 | ||
DE10055823 | 2000-11-10 | ||
PCT/EP2001/009701 WO2002016181A1 (de) | 2000-08-22 | 2001-08-22 | Verfahren zum betreiben eines kraftfahrzeugregelungssystems und vorrichtung zur durchführung des verfahrens |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1313636A1 true EP1313636A1 (de) | 2003-05-28 |
Family
ID=26006783
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01960696A Withdrawn EP1313636A1 (de) | 2000-08-22 | 2001-08-22 | Verfahren zum betreiben eines kraftfahrzeugregelungssystems und vorrichtung zur durchführung des verfahrens |
Country Status (3)
Country | Link |
---|---|
US (1) | US20030167108A1 (de) |
EP (1) | EP1313636A1 (de) |
WO (1) | WO2002016181A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10153458A1 (de) * | 2001-10-30 | 2003-05-15 | Zahnradfabrik Friedrichshafen | Arbeitsmaschine und Verfahren zum Betreiben einer Arbeitsmaschine |
DE10313409A1 (de) * | 2003-03-25 | 2004-11-18 | Continental Teves Ag & Co. Ohg | Verfahren zum Vermeiden von fehlerhaften Aktuatorzugriffen in einem multifunktionalen elektronischen Gesamtregelungssystem |
DE10318883A1 (de) * | 2003-04-17 | 2004-11-04 | Volkswagen Ag | Gaspedalmodul für ein Kraftfahrzeug |
DE102009024034A1 (de) * | 2009-02-05 | 2010-08-12 | Continental Teves Ag & Co. Ohg | Bremsanlage für Kraftfahrzeuge |
US8682559B2 (en) * | 2010-12-14 | 2014-03-25 | Nxp B.V. | Distributed electrical brake circuit and system |
US20150260247A1 (en) * | 2014-03-11 | 2015-09-17 | Caterpillar Inc. | Braking system |
DE102018222442A1 (de) | 2018-12-20 | 2020-06-25 | Audi Ag | Verfahren zur Steuerung eines Steer-by-Wire-Lenksystems in einem Kraftfahrzeug und Steer-by-Wire-Lenksystem |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5532929A (en) * | 1992-12-16 | 1996-07-02 | Toyota Jidosha Kabushiki Kaisha | Apparatus for controlling vehicle driving power |
JPH0830278A (ja) * | 1994-07-14 | 1996-02-02 | Honda Motor Co Ltd | アクティブ振動制御装置 |
US5758741A (en) * | 1994-10-31 | 1998-06-02 | Jidosha Kiki Co., Ltd. | Vehicle power steering system |
DE19655276B4 (de) | 1996-04-25 | 2008-04-30 | Lucas Industries Plc, Solihull | Elektrohydraulische Bremsanlage |
DE19709134C2 (de) * | 1997-03-06 | 2000-07-13 | Isad Electronic Sys Gmbh & Co | Antriebssystem, insbesondere für ein Kraftfahrzeug und Verfahren zur Steuerung der Leerlaufdrehzahl eines Verbrennungsmotors |
JP3743692B2 (ja) * | 1997-03-26 | 2006-02-08 | 株式会社小松製作所 | リターダ自動制御装置 |
DE19733958A1 (de) * | 1997-08-06 | 1999-02-11 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Korrektur von Toleranzen eines Geberrades |
JP3673377B2 (ja) * | 1997-09-26 | 2005-07-20 | 光洋精工株式会社 | パワーステアリング装置 |
JP3738584B2 (ja) * | 1998-12-21 | 2006-01-25 | トヨタ自動車株式会社 | 車輌の制動制御装置 |
US6176341B1 (en) * | 1999-02-01 | 2001-01-23 | Delphi Technologies, Inc. | Vehicle steering system having master/slave configuration and method therefor |
JP3608433B2 (ja) * | 1999-06-15 | 2005-01-12 | 日産自動車株式会社 | 先行車追従制御装置 |
US6424900B2 (en) * | 2000-02-01 | 2002-07-23 | Delphi Technologies, Inc. | Multi-module control-by-wire architecture |
DE60121309T2 (de) * | 2000-02-28 | 2007-07-05 | Calspan Corp. | Einrichtung und vorrichtung zur vermeidung von unfällen an kreuzungen |
-
2001
- 2001-08-22 US US10/362,268 patent/US20030167108A1/en not_active Abandoned
- 2001-08-22 WO PCT/EP2001/009701 patent/WO2002016181A1/de active Application Filing
- 2001-08-22 EP EP01960696A patent/EP1313636A1/de not_active Withdrawn
Non-Patent Citations (1)
Title |
---|
See references of WO0216181A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20030167108A1 (en) | 2003-09-04 |
WO2002016181A1 (de) | 2002-02-28 |
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