EP1483142A1 - $g(c) procede et dispositif permettant de determiner les grandeurs caracterisant la tenue de route d'un vehicule - Google Patents

$g(c) procede et dispositif permettant de determiner les grandeurs caracterisant la tenue de route d'un vehicule

Info

Publication number
EP1483142A1
EP1483142A1 EP03709756A EP03709756A EP1483142A1 EP 1483142 A1 EP1483142 A1 EP 1483142A1 EP 03709756 A EP03709756 A EP 03709756A EP 03709756 A EP03709756 A EP 03709756A EP 1483142 A1 EP1483142 A1 EP 1483142A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
describing
variable
acceleration
pitch
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Withdrawn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
EP03709756A
Other languages
German (de)
English (en)
Inventor
Werner Bernzen
Wilfried Huber
Volker Maass
Avshalom Suissa
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.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
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 DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of EP1483142A1 publication Critical patent/EP1483142A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • 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
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
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    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
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    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
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    • B60G2400/80—Exterior conditions
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    • B60G2400/824—Travel path sensing; Track monitoring
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    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1307—Load distribution on each wheel suspension
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    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
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    • B60W2050/001—Proportional integral [PI] controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0044—In digital systems
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B60W2050/065—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot by reducing the computational load on the digital processor of the control computer
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2510/00—Input parameters relating to a particular sub-units
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
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    • B60W2510/00—Input parameters relating to a particular sub-units
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    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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Definitions

  • the invention relates to a method and a device for determining variables that characterize the driving behavior of a vehicle.
  • DE 42 26 749 C2 and DE 43 25 413 C2 each disclose a method for determining the vehicle's slip angle.
  • the float angle is determined as a function of the longitudinal vehicle speed, the longitudinal acceleration, the lateral acceleration and the yaw angle speed using state equations.
  • the float angle is a function of the longitudinal vehicle speed, the longitudinal acceleration, the lateral acceleration, the yaw rate, the steering angle, the wheel speeds of the individual wheels and as a state variable of the angle of inclination of the roadway relative to the plane using equations of motion and at least one a measurement equation based on a vehicle model.
  • the method according to the invention differs in the definition of the input variables and in the definition of the output variables.
  • a vehicle speed variable that is to say a variable describing the vehicle transverse speed and / or a variable describing the vehicle longitudinal speed, or roadway variables.
  • DE 42 00 061 C2 discloses a method for determining the vehicle transverse speed and / or the slip angle, these two variables being determined using a model-based estimation method.
  • the longitudinal speed of the vehicle In addition to the steering angle of the vehicle, the longitudinal speed of the vehicle, the yaw angle speed of the vehicle, the lateral acceleration of the vehicle and the speeds of the wheels are also taken into account as input variables. In an alternative embodiment, the same input variables are used except for the lateral acceleration of the vehicle, for which the brake pressures are taken into account.
  • the two methods described in DE 42 00 061 C2 differ from the method according to the invention in the input variables used. There are also differences in the calculation method used. In addition, none of these methods is intended to determine a lane size.
  • DE 196 07 429 AI describes a fault-tolerant regulating and / or control device for a vehicle dynamics control device for a motor vehicle.
  • Part of this fault-tolerant regulating and / or control device is a state variable determination unit, state quantity values can be estimated, which are supplied as input variables to a vehicle dynamics controller.
  • These estimated state values are the float angle of the vehicle and the vehicle's longitudinal speed.
  • the steering wheel angle, the vehicle's longitudinal acceleration, on the one hand the lateral acceleration recorded in the front area of the vehicle and on the other hand the lateral acceleration recorded in the rear area of the vehicle, the yaw angle speed and the wheel speeds are used as input variables, depending on the estimate.
  • the method described in DE 196 07 429 AI differs from the method according to the invention by the output values achieved by means of an estimate, which is inevitable is associated with the fact that there are differences in the calculation method used.
  • a method and a device for determining vehicle speed variables which should at least be a variable describing the vehicle transverse speed, and / or lane variables, which should remain constant in all conceivable driving conditions works reliably, which means that the variables determined in this way can be used for any driving conditions.
  • the method according to the invention is a method for determining variables that characterize the driving behavior of a vehicle, with which at least one vehicle speed variable, which is at least a variable describing the vehicle transverse speed, and / or a road surface variable that determines the nature and / or describes the course of the roadway, is determined using an estimation method.
  • these variables are at least dependent on using the estimation method from a quantity describing the vehicle longitudinal acceleration (ß x ), from a quantity describing the vehicle lateral acceleration ( y ), from a quantity describing the yaw rate of the vehicle ( ⁇ ), from a quantity characterizing the steering angle of the steered wheels ( ⁇ , ⁇ wheel l ) and from the quantities (fi) ⁇ ) describing the rotational speeds of the vehicle wheels.
  • vehicle speed variables which are at least a variable describing the vehicle transverse speed
  • the lane variables can be reliably determined, which leads to the fact that the variables determined in this way can be used for any driving conditions.
  • a variable describing the longitudinal vehicle speed can advantageously be determined as a further vehicle speed variable.
  • the variable describing the longitudinal vehicle speed is required, for example, in slip-based control systems to determine the wheel slip.
  • the variable describing the vehicle transverse speed is required in control systems with which the transverse dynamics of the vehicle are controlled.
  • the lane size determined with the method according to the invention is advantageously a variable describing the road gradient and / or a variable describing the road gradient and / or a variable describing the road friction.
  • the variable describing the road gradient is required, for example, in order to be able to eliminate disruptive influences, such as those resulting from a road inclined in the longitudinal direction of the vehicle.
  • the term road gradient is intended to encompass both an increasing and a decreasing course of the road.
  • the size describing the roadway slope is also required in order to be able to eliminate disruptive influences from a control system.
  • the variable describing the road surface friction value is required, for example, in the case of control systems with which the transverse dynamics of the vehicle are controlled, in order to limit the target value for the yaw rate.
  • a variable describing the steering wheel angle is advantageously used as the variable characterizing the steering angle of the steered wheels, or variables describing the wheel-specific steering angles set on the steered wheels are used.
  • Consideration of the size describing the steering wheel angle is advisable since vehicles which are equipped with a control system for regulating the yaw angle speed which corresponds to the state of the art today are equipped with a steering wheel angle sensor anyway. In this case, there would be no additional effort with regard to the sensors. However, if an even higher control quality is to be achieved with such a control system for controlling the yaw angle speed, then it is advisable to use sizes instead of the individual size describing the steering wheel angle, which describe the wheel-specific steering angle set on the steered wheels.
  • the estimation method is advantageously a model-based estimation method.
  • the use of a condition monitor has proven to be particularly advantageous.
  • the best experience was with a caiman filter. This is due to the fact that the variable gain matrix makes it easier to adapt a Cayman filter to the real state than other comparable estimation methods.
  • the variable describing the longitudinal vehicle speed and / or the lane size additionally takes into account a variable describing the yaw angle acceleration of the vehicle and / or a variable describing the vehicle vertical acceleration.
  • the quality of the estimation method is increased by taking the yaw angle acceleration into account. Additional individual cases can also be recorded and evaluated.
  • the vehicle vertical acceleration is required for the determination of the wheel loads occurring on the individual vehicle wheels, which in turn are required as quantities to be processed in the estimation process.
  • variable describing the longitudinal vehicle acceleration and / or the variable describing the vehicle lateral acceleration and / or the variable describing the vehicle vertical acceleration are advantageously nick and / or roll corrected variables. This ensures that the influence of the vehicle's own movement due to deflection processes on the variables to be determined using the estimation method is eliminated.
  • Carrying out a pitch and / or roll correction essentially represents a transformation based on a vehicle-fixed coor- dinate system in a co-ordinate system that is fixed to the roadway. The variables determined with the aid of the estimation method thus only have influences that go back to the roadway.
  • the pitch and / or roll correction is advantageously carried out as a function of the variable describing the vehicle longitudinal acceleration and / or the variable describing the vehicle lateral acceleration and / or the variable describing the vehicle vertical acceleration using a model, in particular a pitch / roll model.
  • a model in particular a pitch / roll model.
  • the pitch and / or roll correction is advantageously carried out as a function of the spring travel determined for at least one vehicle wheel. This type of pitch and / or roll correction is more precise than the model-based one mentioned above.
  • the vehicle speed variable i.e. at least the quantity describing the vehicle transverse speed and possibly the quantity describing the vehicle longitudinal speed, and / or the roadway size additionally takes into account a quantity describing the pitch angular velocity of the vehicle and / or a quantity describing the roll angular velocity of the vehicle.
  • variable describing the pitch angular velocity of the vehicle and / or the variable describing the roll angular velocity of the vehicle is advantageously dependent on the spring force determined for at least one vehicle wheel. corrected for the proportion of the pitching and / or rolling movement of the vehicle relative to the road.
  • the variable describing the pitch angular velocity of the vehicle and / or the variable describing the roll angular velocity of the vehicle is corrected with the aid of a pitch / roll model by the proportion of the pitch and / or roll movement of the vehicle relative to the road.
  • a variable describing the pitch angular acceleration of the vehicle and / or a variable describing the roll angular acceleration of the vehicle are advantageously determined with the aid of the variable describing the vehicle vertical acceleration for more than one point of the vehicle and, depending on the variable describing the pitch angular acceleration, the variable describing the pitch angular velocity of the vehicle / or as a function of the variable describing the roll angular acceleration, determines the variable describing the roll angular velocity of the vehicle.
  • the method according to the invention provides reliable estimates for the variables longitudinal speed, transverse speed, road gradient or road gradient and road gradient in all conceivable driving conditions and environmental conditions, in particular also in transverse and longitudinally inclined roads and in roads with different coefficients of friction. Furthermore, the method according to the invention provides a reliable estimate of the mean road friction when the longitudinal / transverse slip of at least one wheel of the vehicle is close to the adhesion limit.
  • FIG. 1 shows a schematic illustration of the driving state observer on which the method according to the invention is based, with the input variables supplied to it and the output variables output by it, and
  • Fig. 2 shows a schematic representation of the concrete implementation of the driving state observer as a Cayman filter.
  • FIG. 1 shows the driving state observer 102 on which the method according to the invention is based, which is generally formulated as a computing means, with the input variables supplied to it and the output variables output by it.
  • the input variables are fed to the driving state observer 102 starting from a block 101, which is a variety of sensor means and which can generally be referred to as a detection means.
  • the output variables determined by the driving state observer 102 are fed to various processing means arranged in the vehicle, which are combined to form a block 103, for further processing.
  • the following variables can be supplied to the driving state observer 102 as input variables:
  • a pitch and / or roll corrected longitudinal acceleration variable which is provided by a sensor means 101a, with which a variable describing the vehicle longitudinal acceleration and a corresponding pitch and / or roll correction is carried out.
  • the driving state observer 102 can also be supplied directly with the quantity ⁇ x describing the longitudinal acceleration of the vehicle, ie without any pitch and / or roll correction being carried out.
  • block 101a is an ordinary longitudinal acceleration sensor. The necessary pitch and / or roll correction is then carried out in block 102.
  • Size describing vehicle lateral acceleration is recorded and a corresponding pitch and / or roll correction is carried out.
  • the driving condition observer 102 can also directly use the variable y describing the vehicle lateral acceleration, ie without having carried it out
  • Block 101b is an ordinary lateral acceleration sensor.
  • the necessary pitch and / or roll correction is then carried out in block 102.
  • a pitch and / or roll-corrected vertical acceleration variable a ⁇ w ⁇ which is provided by a sensor means 101c with which a variable describing the vehicle vertical acceleration is detected and a corresponding pitch and / or roll correction is carried out.
  • the driving state observer 102 can also be supplied directly with the variable z describing the vehicle vertical acceleration, that is to say without a pitch and / or roll correction being carried out.
  • block 101c is an ordinary vertical acceleration sensor. The possibly required pitch and / or roll correction is then carried out in block 102.
  • variable ⁇ describing the yaw angular acceleration of the vehicle which is either detected with the aid of a suitable sensor means lOle, or which is arithmetically derived from the variable ⁇ describing the yaw angular velocity of the vehicle.
  • a quantity characterizing the steering angle of the steered wheels can be, for example, a variable ⁇ describing the steering wheel angle, which is detected with the aid of a steering angle sensor 10f known from the prior art. Alternatively, it can be a ⁇ wheel that describes the wheel-specific steering angle set on the steered wheels. These quantities can either be derived from the quantity ⁇ or they are detected by means of sensor means 10lg, which are associated with the individual steered wheels and which are angle sensors known from the prior art.
  • the exemplary embodiment is based on a vehicle which is equipped with front axle steering. This is not meant to be a limitation. In addition to the front axle steering, the vehicle can also have rear axle steering.
  • the combination of the various sensor means listed above in FIG. 1 into a block 101 is not intended to have any restrictive effect.
  • all of the sensor means listed above can be structurally arranged independently in the vehicle.
  • the lateral acceleration sensor, the longitudinal acceleration sensor, the vertical acceleration sensor and the yaw rate sensor can be combined to form such a sensor module.
  • the sensor for detecting the yaw angle acceleration may also be contained in such a sensor module.
  • the rest of the sensor means mentioned in the list above are then installed independently in the vehicle.
  • the two acceleration quantities can be supplied to the driving state observer in a pitch and / or roll corrected form. Alternatively, the pitch and / or roll correction can only be carried out in the driving state observer.
  • the driving state observer determines the following, the processing means
  • variable ⁇ describing the road surface friction.
  • These output variables can be divided into two groups: in a first group, which is vehicle movement variables that describe the vehicle movement, more precisely formulated vehicle speed variables, and in a second group, which are roadway variables that describe the nature and / or describe the course of the road.
  • the vehicle speed quantities are the quantity describing the vehicle transverse speed and the quantity describing the vehicle longitudinal speed.
  • the roadway sizes are the size describing the roadway slope and the size describing the roadway bank slope and the size describing the roadway friction coefficient.
  • the processing means combined in FIG. 1 to form block 103 can be formulated in general terms with which a regulation and / or control of a variable describing and / or influencing the vehicle movement is carried out. In the specific case, it can be, for example, the following processing means:
  • a yaw rate control with which the yaw rate of the vehicle, i.e. the rotational movement of the vehicle is regulated about its vertical axis, and / or
  • FIG. 2 The specific implementation of the driving status monitor 102 is shown in FIG. 2.
  • the method according to the invention is based on a state observer which is designed as a Kalman filter and which has the structure shown in FIG. 2.
  • the individual terms used in equations (1) to (5) have the following meaning: -
  • the vector x contains the individual physical quantities that represent the state of the system to be estimated. These physical quantities are called state quantities. Accordingly, the vector x contains the estimated values determined for these physical quantities.
  • the physical variables are the variable v x describing the vehicle's longitudinal speed, the variable v y describing the vehicle transverse speed, the variable ⁇ describing the road inclination, the variable ⁇ describing the road gradient and the parameter ⁇ describing the road coefficient of friction.
  • the vectors u and y each contain part of the quantities which are fed to the Kalman filter ' as input quantities.
  • the vector u contains the quantity ⁇ x describing the vehicle longitudinal acceleration and the quantity y describing the vehicle lateral acceleration.
  • the vector y also contains the quantity ⁇ x describing the vehicle longitudinal acceleration and the quantity a y describing the vehicle lateral acceleration, and additionally the quantity ⁇ describing the yaw angle acceleration of the vehicle.
  • w (t) represents existing system noise.
  • v (t) represents existing measurement noise.
  • the two matrices Q and R represent the power density matrices of the respective noise.
  • the matrix P corresponds to the covariance matrix.
  • equations (3) to (5) are formulated continuously in time.
  • at least equations (3) to (5) must be represented in a time-discrete manner. We have this discrete-time representation for the sake of clarity and there this is a deformation familiar to the person skilled in the art.
  • the system for which states are to be estimated is a motor vehicle.
  • v y ⁇ ⁇ v x - g ⁇ + a (6)
  • v x ⁇ v y + g ⁇ + a ⁇ (7)
  • Equations (6) to (10) represent the individual equations of the equation system (1), the measurement noise not being taken into account in the representation of equations (6) to (10).
  • the left terms of equations (6) to (10) represent the changes over time in the state variables to be estimated.
  • the values of the state variables in turn result from the changes over time through integration.
  • the state variables correspond to the output variables contained in FIG. 1. Specifically, these are the longitudinal vehicle speed v x , the transverse vehicle speed v y , the road inclination ⁇ , the road gradient ⁇ and the mean coefficient of friction ⁇ .
  • the individual elements of the two matrices A and B are determined from the right-hand terms of equations (6) to (10).
  • Equations (6) to (10) represent state equations with which the vehicle movement can be described.
  • Equation (10) represents the prediction equation for the road coefficient of friction, more precisely for the mean coefficient of road friction.
  • a (t) and b (t) for example, the constant values 0.995 and 0.005 can be selected. If there is a steep wall curve, the value 0.01 can be selected for the term b (t) instead of the value 0.005, which enables a stronger adjustment of the coefficient of friction.
  • the term a (t) can also be formulated as a function of the vertical vehicle acceleration.
  • Equation (10) is the prediction equation for the estimation of the road friction.
  • the maximum possible road friction i.e. the value 1 selected.
  • This starting value is included in the summand a (t) ⁇ . If the situation described above is now in which a wheel of the vehicle is close to the limit of grip, then in this situation one already has a first approximate information about the road friction. This value, which in any case describes the situation better than the value assumed for 1, can then be used as the starting value. This enables the Kalman filter to determine the exact value of the road surface friction value in this situation more quickly.
  • the Kalman filter is adjusted to the real conditions during its operation.
  • the comparison is carried out by comparing measured variables with variables which are determined using different models.
  • the Kalman filter is supported by a comparison with reality.
  • the terms between the two equal signs indicate that the measured quantities can also be calculated.
  • transverse vehicle acceleration the calculation can be carried out as a function of the lateral forces acting on the vehicle and in the case of longitudinal vehicle acceleration as a function of the longitudinal forces acting on the vehicle.
  • longitudinal vehicle acceleration as a function of the longitudinal forces acting on the vehicle.
  • yaw angle acceleration the calculation can be carried out as a function of the torques acting on the vehicle about its vertical axis.
  • the terms to the right of the second equal sign show, depending on which sizes, the model sizes for the vehicle lateral acceleration, the vehicle longitudinal acceleration and the yaw angle acceleration are determined.
  • the model-based determination is carried out as a function of the vehicle transverse speed, the vehicle longitudinal speed, the pitch and / or roll-corrected vehicle vertical acceleration, the yaw angle speed, the quantity characterizing the steering angle of the steered wheels, the road surface friction coefficient and the rotation speeds the vehicle wheel descriptive sizes.
  • the three models are based on a two-track vehicle model and a non-linear tire model, ie a non-linear tire characteristic.
  • the wheel loads are determined based on the vehicle's vertical acceleration.
  • the first two of the above three measurement equations (11), (12) and (13) are taken into account in any case.
  • the third measurement equation is only taken into account if, in addition to the lateral acceleration and the longitudinal acceleration of the vehicle, its yaw angle acceleration is also to be evaluated.
  • This second embodiment is based on extended prediction equations. These extended prediction equations are:
  • V y - ⁇ v ⁇ - g ⁇ + a TM (6 ')
  • a comparison of the prediction equation set of the first embodiment with that of the second embodiment shows that the first, the second and the fifth prediction equation are identical.
  • the two approaches differ only in the third and fourth equations.
  • the Kalman filter of the second embodiment has the advantage that changes in the longitudinal slope and / or in the transverse slope are detected more quickly than in the Kalman -Filter of the first embodiment.
  • additional sensors are required for this.
  • the vehicle must also be equipped with sensor means Detection of the roll movement and the pitch movement.
  • the right term of equation (3) is present at the output of the sum generator 205, i.e. the time changes of the state variables are present at this output.
  • the current values of the state variables are determined on the basis of these current temporal changes in the state variables and the values of the state variables from previous time steps. These current values of the state variables are output in the form of the vector x. These current values of the state variables are fed back.
  • the vector x is supplied to the two blocks 207 and 208.
  • the term Ax is formed on the right side of equation (3).
  • the terms of the measurement equations (11), (12) and (13) to the right of the second equal sign are determined in block 208.
  • the support values for the adjustment of the caiman filter i.e. the estimated values for the measured variables vehicle longitudinal acceleration, vehicle lateral acceleration and yaw angle acceleration are determined. These are fed to a difference former 202.
  • Block 201 represents part of the sensor system arranged in the vehicle. With this sensor system, measured values for the vehicle longitudinal acceleration, the vehicle lateral acceleration and the yaw angle acceleration are determined. These measured values len represent the terms to the left of the first equal sign of the measurement equations. These measured values are also fed to the difference generator 202. The difference between the measured values and the estimated values is formed in the difference generator to carry out the adjustment of the Cayman filter. This difference corresponds to the term contained in the square brackets of equation (3). This difference is fed to a block 203, in which the variable gain of the Cayman filter is determined. Block 203 generates the term K [yh (x, u) j of equation (3) as an output variable. This is fed to the sum generator 205. The totalizer 205 is also supplied with an output variable determined in block 204, which corresponds to the term Bu in equation (3).
  • vehicle speed variables ie at least one variable describing the vehicle transverse speed and possibly. a variable describing the longitudinal vehicle speed, and / or lane variables that describe the nature and / or the course of the lane
  • an estimation method at least as a function of a variable describing the longitudinal vehicle acceleration and / or a variable describing the vehicle lateral acceleration and / or one the variable describing the vehicle vertical acceleration and / or a variable describing the yaw angular velocity of the vehicle and / or a variable describing the yaw angular acceleration of the vehicle and / or the rotational speed of the vehicle wheels and / or, depending on how the vehicle is equipped, either of a size describing the steering wheel angle or of sizes suitable for at least two vehicle wheels, in particular the front wheels of the vehicle, describe the wheel-specific steering angle. If the vehicle is additionally equipped with rear axle steering, all wheel steering angles can be taken into account as input variables.
  • both the vehicle speed variables and the roadway variables represent variables that characterize the driving behavior.
  • the mode of operation of the Cayman filter can be represented as follows:
  • the current changes in time for the state variables are first determined, based on the current time step (block 205).
  • current values for the state variables are determined from these current temporal changes and the values of the state variables from previous time steps.
  • Mathematical models are used to determine at least some of the measured variables as a function of the current values of the state variables (block 208).
  • an adjustment is carried out for the Kalman filter (block 203), in which the variable gain of the Kalman filter is adapted to the conditions of reality. This adjustment of the variable gain leads to a correction in the determination of the changes over time for the state variables and thus in the determination of the values of the state variables of the subsequent time step.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un procédé permettant de déterminer des grandeurs caractérisant la tenue de route d'un véhicule. Selon ce procédé, on détermine au moins une grandeur de vitesse du véhicule automobile, notamment au moins d'une grandeur décrivant la vitesse transversale du véhicule (Vy), et/ou une grandeur de la chaussée qui décrit la nature et/ou le tracé de la chaussée, par une méthode d'estimation au moins en fonction d'une grandeur décrivant l'accélération longitudinale du véhicule (ax), d'une grandeur décrivant l'accélération transversale du véhicule (ay), d'une grandeur décrivant la vitesse sur l'axe vertical du véhicule (?), d'une grandeur caractérisant l'angle de pivotement des roues dirigées (δ,δRoue,i) et des grandeurs décrivant les vitesses de rotation des roues du véhicule (φRoue,i). On détermine comme autre grandeur de vitesse du véhicule une grandeur décrivant la vitesse longitudinale du véhicule (Vx). Et on calcule comme grandeur de chaussée une grandeur décrivant l'inclinaison de la chaussée (T) et/ou une grandeur décrivant l'inclinaison transversale de la chaussée (F) et/ou une grandeur décrivant le coefficient de frottement de la chaussée (µ).
EP03709756A 2002-03-13 2003-03-07 $g(c) procede et dispositif permettant de determiner les grandeurs caracterisant la tenue de route d'un vehicule Withdrawn EP1483142A1 (fr)

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DE10211220 2002-03-13
DE10211220 2002-03-13
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PCT/EP2003/002341 WO2003076243A1 (fr) 2002-03-13 2003-03-07 $g(c) procede et dispositif permettant de determiner les grandeurs caracterisant la tenue de route d'un vehicule

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EP03709756A Withdrawn EP1483142A1 (fr) 2002-03-13 2003-03-07 $g(c) procede et dispositif permettant de determiner les grandeurs caracterisant la tenue de route d'un vehicule

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WO2003076243A1 (fr) 2003-09-18
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