EP1536994A1 - Method for monitoring chassis functions and chassis components - Google Patents

Method for monitoring chassis functions and chassis components

Info

Publication number
EP1536994A1
EP1536994A1 EP03794919A EP03794919A EP1536994A1 EP 1536994 A1 EP1536994 A1 EP 1536994A1 EP 03794919 A EP03794919 A EP 03794919A EP 03794919 A EP03794919 A EP 03794919A EP 1536994 A1 EP1536994 A1 EP 1536994A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
chassis
driving conditions
functions
information
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Withdrawn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
EP03794919A
Other languages
German (de)
French (fr)
Inventor
Rüdiger MAHLO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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 Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP1536994A1 publication Critical patent/EP1536994A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B60G17/018—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 use of a specific signal treatment or control method
    • B60G17/0185—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 use of a specific signal treatment or control method for failure detection
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/08—Failure or malfunction detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • 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
    • B60G2800/80—Detection or control after a system or component failure
    • 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
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/06—Active Suspension System
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/021—Means for detecting failure or malfunction
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures

Definitions

  • the present invention relates to a method for monitoring chassis functions and chassis components of a motor vehicle and / or for detecting wear, wear trends, component defects or deteriorating functions.
  • the design of the maintenance intervals is generally based on the mileage or the service life of a vehicle.
  • modern solutions offer an extension of the usual interval times by means of computer-aided evaluation of vehicle stress.
  • the engine load is primarily used to assess vehicle stress.
  • the invention is therefore based on the object of overcoming the disadvantages of conventional monitoring methods described and of developing a method which enables monitoring of chassis functions and chassis components which can be carried out with relatively little effort.
  • the invention is therefore based on the knowledge that the evaluation of the information that is available in today's vehicles with electronic control systems, such as ABS, ASR, ESP, etc., due to the diverse sensor system, offers the possibility of a driving dynamics evaluation algorithm for solving the described To develop problems.
  • the following signals which the sensors of an electronic brake system, such as ABS, ASR, ESP, etc., which are present in the vehicle, provide exclusively or for recognizing the vehicle or driving states and for carrying out the driving dynamic evaluations can be used together with the signals from additional sensors, in particular also from sensors of chassis-specific control systems:
  • a further exemplary embodiment of the method according to the invention consists in that one or more of the following reproducible specific vehicle or driving states is based on the pattern recognition on the basis of the information provided by the control systems present in the vehicle and / or which are obtained with additional sensors
  • the recognized specific vehicle or driving conditions and / or defect-related anomalies typical of the situation are taken into account when evaluating and evaluating the information.
  • the evaluation of the recognized vehicle or driving conditions and / or the defect-related anomalies typical of the situation takes place expediently only if the vehicle or driving conditions meet predetermined, qualitative and quantitative boundary conditions or reach predetermined limit values.
  • a signal constellation For the assessment of the state of wear of the chassis or individual chassis functions of a vehicle, it is necessary to use a signal constellation to define relevant observation periods of the vehicle or driving state and to quantitatively evaluate the signal constellations within these periods.
  • the results can be stored in a learning algorithm according to the situation and, viewed over longer periods or intervals, can be compared with one another in similar situations and with similar signal constellations in order to identify effects on Have component defects (e.g. shock absorber, bearing, drive, suspension) closed.
  • Detected trends or wear effects can be stored in an (already existing or additional) fault memory of the existing vehicle control system and can be examined in detail during the next inspection. This enables better early detection of impending defects. Serious, clearly recognizable defects are immediately shown to the driver by a (chassis) warning lamp.
  • the signals from the following sensors can be used as useful information:
  • Pressure sensors of the brake system and possibly existing additional sensors e.g. travel sensors,
  • a situation mode Once a situation mode has been clearly identified, it can be quantified based on typical situation characteristics. This quantification can be viewed as an indicator of the load on the vehicle. In these situations, for the evaluation of the "vehicle" system, critical characteristics can be defined for certain boundary conditions that indicate component defects.
  • the possibilities must be examined to assign specific boundary conditions and defect-typical features to one another by means of a certain signal combination and pattern recognition, in order to clearly identify component defects.
  • the form of the signals can vary depending on the vehicle configuration. For example, the tendency of a decreasing limit speed in the curve under the same boundary conditions (or lateral acceleration, steering angle, etc.) can be an indication of a decreasing functionality of the chassis components due to general wear.
  • Vibrating signals from yaw rate and lateral acceleration during stable cornering can be caused, for example, by defective shock absorbers or by incorrect tire air pressure on the outside of the curve. If this assumption is confirmed by similar resonance effects or characteristics in other driving situations, the suspicions accumulate and can be precisely specified in the presence of additional information (e.g. using tire pressure detection methods such as DDS, TPMS). If similar effects increase in frequency and intensity and lead to suspicions beyond a defined perception threshold, a registration is made by the signal of a warning lamp or by storing it in the inspection memory of the vehicle and thus provides assistance in the maintenance of the vehicle in the workshop. When the memory is deleted after the inspection, the suspicions or the learned value are reset. The statistical long-term observation for the formulation of the suspected moments can be realized by a corresponding learning algorithm within the program structure of the existing electronic brake system (EBS).
  • EBS electronic brake system
  • EBS electronic braking system
  • the vehicle deceleration and / or the spring travel are also taken into account, this information being determined by appropriate sensors, which are often required for the control anyway.
  • the signal characteristics are only considered and evaluated if the driving conditions described above meet certain qualitative and quantitative boundary conditions.
  • the perceived anomalies are accumulated in a statistical program algorithm in a feature-specific manner and viewed in their entirety in order to formulate a condition diagnosis for individual components or component groups. If the signals in the cumulative feature anomalies described exceed a certain perception threshold, a diagnostic message, e.g. by switching on a warning lamp, or an error memory entry is made.
  • FIGS. 1A, 1B, 1C The attached figure (Fig. 1A, Fig. IB, Fig. IC), which shows a flow chart or a flow chart, serves to illustrate essential features and steps of an embodiment of the method according to the invention.
  • the individual “stations” in the process sequence are designated and characterized as follows in FIGS. 1A, 1B, 1C:
  • the required or available information is compiled and evaluated in the form of certain signals.
  • the signals evaluated here as relevant and used to carry out the monitoring method according to the invention, such as wheel speed, steering angles etc. are shown in the diagram.
  • the "situation assessment” comprises the following individual steps or individual measures:

Abstract

The aim of the invention is to monitor the chassis functions and chassis components of a motor vehicle and to identify wear, wear trends, component defects or declining functions. To achieve this, information, which is available in the control systems of the vehicle and/or has been obtained by additional sensors, is evaluated. Evaluations relating to the vehicle dynamics are carried out for reproducible vehicle or driving conditions based on said information and are taken into account in order to statistically evaluate specific characteristics, which directly or indirectly reflect chassis functions and/or the condition of chassis components and to subsequently identify defects or malfunctions.

Description

Verfahren zur Überwachung von Fahrwerksfunktionen und FahrwerksbauteilenProcedure for monitoring chassis functions and chassis components
Die vorliegende Erfindung bezieht sich auf ein Verfahren zur Überwachung von Fahrwerksfunktionen und Fahrwerksbauteilen eines Kraftfahrzeugs und/oder zum Erkennen von Verschleiß, Verschleißtrends, von Bauteildefekten oder nachlassenden Funktionen .The present invention relates to a method for monitoring chassis functions and chassis components of a motor vehicle and / or for detecting wear, wear trends, component defects or deteriorating functions.
Der Tendenz in der Automobilbranche, die Inspektionsintervalle eines Fahrzeuges zu verlängern, um eine kundenfreundliche Minimierung der laufenden Kosten über die Produktlebenszeit zu ermöglichen, führt zu erhöhten Ansprüchen an die Dauerfestigkeit der eingesetzten Bauteile.The tendency in the automotive industry to extend the inspection intervals of a vehicle in order to enable customer-friendly minimization of running costs over the product lifetime leads to increased demands on the fatigue strength of the components used.
Die Gestaltung der Wartungsihtervalle orientiert sich im Allgemeinen an der Laufleistung oder der Nutzungsdauer eines Fahrzeuges. Moderne Lösungen bieten im Rahmen von "Longlife- Garantien" durch rechnergestützte Bewertung der Fahrzeugbeanspruchung eine Verlängerung der üblichen Intervallzeiten. Zur Bewertung der Fahrzeugbeanspruchung wird dabei vorrangig die Motorbelastung herangezogen.The design of the maintenance intervals is generally based on the mileage or the service life of a vehicle. In the context of "long-life guarantees", modern solutions offer an extension of the usual interval times by means of computer-aided evaluation of vehicle stress. The engine load is primarily used to assess vehicle stress.
Die Beanspruchung der Fahrwerksbauteile über solche verlängerten Intervallzeiten kann dabei mit den bisher bekannten Methoden nicht erfasst und berücksichtigt werden. Da die Beanspruchung der Fahrwerksbauteile maßgeblich von der Fahrweise des Fahrzeugführers abhängig ist, besteht bei besonders agiler Fahrweise über längere Distanzen eine höhere Verschleiß- und Ausfallwahrscheinlichkeit als bei einem "Normalbetrieb". Sich einstellende Verschleißtrends oder Defekte als Folge längerer Inspektionsintervalle bei überdurchschnittlicher Beanspruchung oder in Folge qualitativer Mängel kann dann zu Schäden führen, die für den Endkunden und für den Teilelieferanten (Kraftfahrzeug-Erstausrüster) , der Kulanzansprüche zu erfüllen hat, mit hohen Kosten verbunden sein können. Aus diesen Gründen besteht ein hoher Bedarf an einer frühzeitigen Verschleiß- und Defekterkennung und an Inspektionshilfen für die Überwachung von Fahrwerkskomponenten.The stress on the chassis components over such extended interval times cannot be recorded and taken into account using the methods known to date. Since the stress on the chassis components is largely dependent on the driving style of the vehicle driver, there is a higher likelihood of wear and failure over longer distances in a particularly agile driving style than in "normal operation". Wear trends or defects that occur as a result of longer inspection intervals with above-average use or as a result of qualitative defects can then lead to damage for the end customer and for the parts supplier (original vehicle manufacturer) who has to meet goodwill claims can be associated with high costs. For these reasons, there is a high need for early wear and defect detection and inspection aids for monitoring chassis components.
Der Erfindung liegt daher die Aufgabe zugrunde, die beschriebenen Nachteile herkömmlicher Überwachungsmethoden zu überwinden und ein Verfahren zu entwickeln, das eine mit relativ geringem Aufwand durchführbare Überwachung von Fahrwerksfunktionen und Fahrwerksbauteilen ermöglicht.The invention is therefore based on the object of overcoming the disadvantages of conventional monitoring methods described and of developing a method which enables monitoring of chassis functions and chassis components which can be carried out with relatively little effort.
Es hat sich herausgestellt, dass diese Aufgabe durch das im Anspruch 1 beschriebene Verfahren gelöst werden kann, dessen Besonderheit darin besteht, dass Informationen, die im Fahrzeug vorhandene Regelungssysteme zur Verfügung stellen und/ oder die mit zusätzlicher Senso- rik gewonnen werden, ausgewertet werden, dass auf Basis dieser Informationen fahrdynamische Bewertungen bei reproduzierbaren Fahrzeug- oder Fahrzuständen durchgeführt werden und dass die fahrdynamischen Bewertungen zur statistischen Auswertung von spezifischen Merkmalen, die Fahrwerksfunktionen und/oder den Zustand von Fahrwerksbauteilen direkt oder indirekt wiedergeben, und schließlich zur Fehler- oder Mängelerkennung herangezogen werden.It has been found that this object can be achieved by the method described in claim 1, the special feature of which is that information that is available in the vehicle's control systems and / or that is obtained with additional sensors is evaluated. that on the basis of this information, driving dynamics evaluations are carried out in reproducible vehicle or driving conditions and that the driving dynamics evaluations for the statistical evaluation of specific characteristics reflect the chassis functions and / or the condition of chassis components directly or indirectly, and are ultimately used for fault or defect detection ,
Die Erfindung beruht also auf der Erkenntnis, dass das Auswerten der Informationen, die bei heutigen Fahrzeugen mit elektronischen Regelungssystemen, wie ABS, ASR, ESP etc., durch die vielfältige Sensorik zur Verfügung stehen, die Möglichkeit bietet, einen fahrdynamischen Bewertungsalgorithmus zur Lösung der geschilderten Problematik zu entwickeln.The invention is therefore based on the knowledge that the evaluation of the information that is available in today's vehicles with electronic control systems, such as ABS, ASR, ESP, etc., due to the diverse sensor system, offers the possibility of a driving dynamics evaluation algorithm for solving the described To develop problems.
Ein wichtiger Vorteil liegt darin, dass zur Realisierung des erfindungsgemäßen Verfahrens keine oder nur eine minimale Er- höhung des Herstellungsaufwandes erforderlich ist. Die Sicherheit des Kraftfahrzeugs wird durch die (Langzeit-) Überwa¬ chungsmöglichkeiten, die die Erfindung bietet, wesentlich er¬ höht. Darüber hinaus lassen sich Inspektionen nun Ziel gerichtet durchführen.An important advantage is that no or only a minimal Increase in manufacturing costs is required. The safety of the motor vehicle is significantly ¬ he höht by the (long-term) moni ¬ monitoring options offered by the invention. In addition, inspections can now be carried out in a targeted manner.
Nach einem vorteilhaften Ausführungsbeispiel der Erfindung werden zum Erkennen der Fahrzeug- oder Fahrzustände und zur Durchführung der fahrdynamischen Bewertungen die folgenden Signale, welche die Sensoren eines im Fahrzeug vorhandenen e- lektronischen Bremssystems, wie ABS, ASR, ESP, etc., liefern, ausschließlich oder zusammen mit den Signalen von zusätzlicher Sensoren, insbesondere auch von Sensoren fahrwerksspezifischer Regelsysteme, genutzt werden:According to an advantageous exemplary embodiment of the invention, the following signals, which the sensors of an electronic brake system, such as ABS, ASR, ESP, etc., which are present in the vehicle, provide exclusively or for recognizing the vehicle or driving states and for carrying out the driving dynamic evaluations can be used together with the signals from additional sensors, in particular also from sensors of chassis-specific control systems:
RaddrehzählInformationen,RaddrehzählInformationen,
Querbeschleunigung,Lateral acceleration,
Gierrate undYaw rate and
Systemdruck. Zusätzlich können die Fahrzeugverzögerung und/oder die Federwege ermittelt und ausgewertet werden.System pressure. In addition, the vehicle deceleration and / or the spring travel can be determined and evaluated.
Ein weiteres Ausführungsbeispiel des erfindungsgemäßen Verfahrens besteht darin, dass durch Mustererkennung auf Basis der Informationen, die die im Fahrzeug vorhandenen Regelungssysteme zur Verfügung stellen und/oder die mit zusätzlicher Senso- rik gewonnen werden, eine oder mehrere der folgenden reproduzierbaren spezifischen Fahrzeug- oder FahrzuständeA further exemplary embodiment of the method according to the invention consists in that one or more of the following reproducible specific vehicle or driving states is based on the pattern recognition on the basis of the information provided by the control systems present in the vehicle and / or which are obtained with additional sensors
Geradeausfahrt Kurvenfahrt Stabiles Fahrzeug Instabiles Fahrzeug Frei rollendes Fahrzeug Verzögertes Fahrzeug Beschleunigtes Fahrzeug erkannt und ausgewertet werden.Straight ahead cornering Stable vehicle Unstable vehicle Free rolling vehicle Decelerated vehicle Accelerated vehicle recognized and evaluated.
Dabei werden die erkannten spezifischen Fahrzeug- oder Fahrzustände und/oder Defekt bedingte, situationstypische Anomalien bei der Bewertung und Auswertung der Informationen berücksichtigt. Die Auswertung der erkannten Fahrzeug- oder Fahrzustände und/oder der Defekt bedingten, situationstypischen Anomalien findet zweckmäßiger Weise nur statt, wenn die Fahrzeug- oder Fahrzustände vorgegebene, qualitative und quantitative Randbedingungen erfüllen oder vorgegebene Grenzwerte erreichen.The recognized specific vehicle or driving conditions and / or defect-related anomalies typical of the situation are taken into account when evaluating and evaluating the information. The evaluation of the recognized vehicle or driving conditions and / or the defect-related anomalies typical of the situation takes place expediently only if the vehicle or driving conditions meet predetermined, qualitative and quantitative boundary conditions or reach predetermined limit values.
In den Unteransprüchen sind noch weitere Ausführungsbeispiele der Erfindung genannt.Further exemplary embodiments of the invention are mentioned in the subclaims.
Weitere Merkmale, Vorteile und Anwendungsmöglichkeiten gehen aus der folgenden Beschreibung von Einzelheiten der Erfindung sowie aus der beigefügten Abbildung hervor, die sich aus denFurther features, advantages and possible uses will become apparent from the following description of details of the invention and from the accompanying figure which results from the
Fig.lA, Fig.lB und Fig. ICFig. 1A, Fig. IB and Fig. IC
zusammensetzt und in Form eines ABLAUFDIAGRAMMS (oder Flow- Charts) ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens wiedergibt.composed and reproduces an embodiment of the method according to the invention in the form of a SEQUENCE DIAGRAM (or flow chart).
Für die Bewertung des Verschleißzustandes des Fahrwerkes bzw. einzelner Fahrwerksfunktionen eines Fahrzeuges ist es notwendig, anhand einer Signalkonstellation relevante Betrachtungszeiträume des Fahrzeug- oder Fahrzustandes zu definieren und innerhalb dieser Zeiträume die Signalkonstellationen quantitativ zu bewerten. Die Ergebnisse können in einem Lernalgorithmus entsprechend der Situation gespeichert werden und können, über längere Zeiträume oder Intervalle betrachtet, in ähnlichen Situationen und bei ähnlichen Signalkonstellationen miteinander verglichen werden, um Effekte zu erkennen, die auf Bauteildefekte ( z . B . Stoßdämpfer, Lager, Antrieb, Aufhängung) schließen lassen . Erkannte Trends oder Verschleißeffekte können in einem ( schon vorhandenen oder zusätzlichen) Fehlerspeicher des vorhandenen Fahrzeugregelungssystems abgelegt und bei der nächsten Inspektion detailliert untersucht werden . Dadurch lässt sich eine bessere Früherkennung von sich anbahnenden Defekten realisieren . Schwerwiegende, eindeutig erkennbare Defekte werden dem Fahrer sofort durch eine ( Fahrwerks- ) Warnlampe angezeigt .For the assessment of the state of wear of the chassis or individual chassis functions of a vehicle, it is necessary to use a signal constellation to define relevant observation periods of the vehicle or driving state and to quantitatively evaluate the signal constellations within these periods. The results can be stored in a learning algorithm according to the situation and, viewed over longer periods or intervals, can be compared with one another in similar situations and with similar signal constellations in order to identify effects on Have component defects (e.g. shock absorber, bearing, drive, suspension) closed. Detected trends or wear effects can be stored in an (already existing or additional) fault memory of the existing vehicle control system and can be examined in detail during the next inspection. This enables better early detection of impending defects. Serious, clearly recognizable defects are immediately shown to the driver by a (chassis) warning lamp.
Signalaufbereitung :Signal processing:
Zur Fahrzustandserkennung des Fahrzeuges bzw . als nutzbare Informationen können beispielsweise die Signale der folgenden Sensoren verwendet werden :To detect the driving condition of the vehicle or. For example, the signals from the following sensors can be used as useful information:
Raddreh zahl sensoren,Wheel speed sensors,
Querbeschleunigungs sensor,Lateral acceleration sensor,
Gierratensensor,Yaw rate sensor,
Lenkwinkelsensor,Steering angle sensor,
Drucksensoren des Bremssystems sowie evtl . vorhandene Zusatzsensoren ( z . B . Federwegsensoren,Pressure sensors of the brake system and possibly existing additional sensors (e.g. travel sensors,
Verzögerungssensoren) .Delay sensors).
Moderne Fahrzeuge mit ESP-Ausstattung verfügen ohnehin über weitreichende Informationen . Bei entsprechend vorhandener Zusatzsensorkonfiguration des Fahrzeuges lässt sich die Qualität des Algorithmus durch Einbeziehung weiterer Informationen noch verbessern . Situationserkennung:Modern vehicles with ESP equipment already have extensive information. If the vehicle has a corresponding additional sensor configuration, the quality of the algorithm can be further improved by including further information. Situational awareness:
Betrachtet man die vorgenannten Sensorsignale in ihrer Gesamtheit, lassen sich durch Kombination und Mustererkennung einige unterschiedliche Fahrzeug- oder Fahrsituationen eindeutig erkennen und voneinander abgrenzen.If one considers the above-mentioned sensor signals in their entirety, some different vehicle or driving situations can be clearly identified and differentiated from one another by combination and pattern recognition.
Für die Bewertung der Fahrzeugbeanspruchung sowie der Beobachtung von auftretenden Defekten werden beispielsweise die folgenden, abgrenzbaren Situationen als relevant erachtet:For the evaluation of the vehicle stress as well as the observation of defects that occur, the following delimitable situations are considered relevant, for example:
- Geradeausfahrt- Straight ahead
- Kurvenfahrt- cornering
- stabiles Fahrzeug- stable vehicle
- instabiles Fahrzeug- unstable vehicle
- frei rollendes Fahrzeug- free rolling vehicle
- beschleunigtes/ verzögertes Fahrzeug- accelerated / decelerated vehicle
Situationsbewertung :Situation assessment:
Ist ein Situationsmodus eindeutig erkannt, lässt sich dieser anhand typischer Situationsmerkmale in seiner Ausprägung quantifizieren. Diese Quantifizierung kann als Indikator für die Belastung des Fahrzeuges angesehen werden. Für die Bewertung des Systems "Fahrzeug" kann man in diesen Situationen für bestimmte Randbedingungen kritische Merkmale definieren, die auf Bauteildefekte schließen lassen.Once a situation mode has been clearly identified, it can be quantified based on typical situation characteristics. This quantification can be viewed as an indicator of the load on the vehicle. In these situations, for the evaluation of the "vehicle" system, critical characteristics can be defined for certain boundary conditions that indicate component defects.
Zur technischen Realisierung müssen grundsätzlich die Möglichkeiten untersucht werden, durch bestimmte Signalkombination und Mustererkennung spezifische Randbedingungen und defekttypische Merkmale einander zuzuordnen, um Bauteildefekte eindeutig zu erkennen. Die Ausprägung der Signale kann dabei abhängig von der Fahrzeugkonfiguration variieren. Z.B. kann die Tendenz einer abnehmenden Grenzgeschwindigkeit in der Kurve bei gleichen Randbedingungen (bzw. Querbeschleunigung, Lenkwinkel etc.) ein Indiz für eine abnehmende Funktionstüchtigkeit der Fahrwerksbauteile infolge eines allgemeinen Verschleißes sein.For technical implementation, the possibilities must be examined to assign specific boundary conditions and defect-typical features to one another by means of a certain signal combination and pattern recognition, in order to clearly identify component defects. The form of the signals can vary depending on the vehicle configuration. For example, the tendency of a decreasing limit speed in the curve under the same boundary conditions (or lateral acceleration, steering angle, etc.) can be an indication of a decreasing functionality of the chassis components due to general wear.
Schwingende Signale von Gierrate und Querbeschleunigung bei stabiler Kurvenfahrt können beispielsweise durch defekte Stoßdämpfer oder durch falschen Reifenluftdruck auf der kurvenäußeren Seite verursacht werden. Wird diese Annahme durch ähnliche Resonanzeffekte bzw. Merkmalsausprägung auch in anderen Fahrsituationen bestätigt, kumulieren die Verdachtsmomente und lassen sich bei vorhandenen Zusatzinformationen (z.B. durch Reifendruckerkennungsverfahren, wie DDS, TPMS) Ziel gerichtet präzisieren. Nehmen gleichartige Effekte an Häufigkeit und Intensität zu und führen zu Verdachtsmomenten über eine festgelegte Wahrnehmungsschwelle hinaus, erfolgt eine Registrierung durch das Signal einer Warnlampe oder durch Ablegen im Inspektionsspeicher des Fahrzeuges und gibt damit eine Hilfestellung bei der Wartung des Fahrzeuges in der Werkstatt. Mit dem Löschen des Speichers nach erfolgter Inspektion werden die Verdachtsmomente bzw. der gelernte Wert wieder zurückgesetzt. Die statistische Langzeitbetrachtung zur Formulierung der Verdachtsmomente kann durch einen entsprechenden Lernalgorithmus innerhalb der Programmstruktur des vorhandenen elektronischen Bremsensystems (EBS) realisiert werden.Vibrating signals from yaw rate and lateral acceleration during stable cornering can be caused, for example, by defective shock absorbers or by incorrect tire air pressure on the outside of the curve. If this assumption is confirmed by similar resonance effects or characteristics in other driving situations, the suspicions accumulate and can be precisely specified in the presence of additional information (e.g. using tire pressure detection methods such as DDS, TPMS). If similar effects increase in frequency and intensity and lead to suspicions beyond a defined perception threshold, a registration is made by the signal of a warning lamp or by storing it in the inspection memory of the vehicle and thus provides assistance in the maintenance of the vehicle in the workshop. When the memory is deleted after the inspection, the suspicions or the learned value are reset. The statistical long-term observation for the formulation of the suspected moments can be realized by a corresponding learning algorithm within the program structure of the existing electronic brake system (EBS).
Wichtig sind unter anderen die folgenden Merkmale und Merkmalskombinationen der Erfindung: Zur Bewertung der Fahrwerksfunktion eines Fahrzeuges, um Ver¬ schleißtrends und Bauteildefekte zu erkennen, werden anhand vorhandener Sensoren fahrdynamische Betrachtungen bei reproduzierbaren Fahrzeugzuständen durchgeführt, die eine statistische Auswertung spezifischer Merkmale ermöglichen.Among others, the following features and combinations of features of the invention are important: To recognize schleißtrends and component defects for assessing the suspension function of a vehicle to Ver ¬ be carried out using existing sensors driving dynamics considerations in reproducible vehicle conditions that enable a statistical evaluation of specific features.
Zur Erkennung der Fahrsituationen werden nach einem ersten Ausführungsbeispiel des erfindungsgemäßen Verfahrens ausschließlich die folgenden Signalinformationen, welche ein e- lektronisches Bremssystem (EBS) liefert, genutzt: a. Raddrehzahl, b. Querbeschleunigung, c. Gierrate und d. SystemdruckAccording to a first exemplary embodiment of the method according to the invention, only the following signal information, which is supplied by an electronic braking system (EBS), is used to identify the driving situations: a. Wheel speed, b. Lateral acceleration, c. Yaw rate and d. system pressure
In einem zweiten Beispiel werden zur qualitativen Verbesserung des Verfahrens zusätzlich noch die Fahrzeugverzögerung und/oder der Federweg berücksichtigt, wobei diese Informationen durch entsprechende, häufig ohnehin für die Regelung benötigte Sensoren zu ermitteln sind.In a second example, in order to improve the quality of the method, the vehicle deceleration and / or the spring travel are also taken into account, this information being determined by appropriate sensors, which are often required for the control anyway.
Es hat sich bei einem weiteren Ausführungsbeispiel der Erfindung als vorteilhaft erwiesen, durch entsprechende Signalinformationen und/oder durch Mustererkennung festzustellen, welche der folgenden Fahrzustände momentan gegeben sind: a. GeradeausfahrtIn a further exemplary embodiment of the invention, it has proven to be advantageous to determine which of the following driving conditions are currently present by means of corresponding signal information and / or by pattern recognition: a. straight ahead
Kurvenfahrt Stabiles Fahrzeug Instabiles Fahrzeug Frei rollendes Fahrzeug Verzögertes Fahrzeug Beschleunigtes Fahrzeug Bei der Signalauswertung hat sich eine solche Unterscheidung als hilfreich erwiesen.Cornering Stable vehicle Unstable vehicle Free rolling vehicle Decelerated vehicle Accelerated vehicle Such a distinction has proven to be helpful in signal evaluation.
Weiterhin wurden für die Erkennung von Verschleißtendenzen und Bauteildefekten Signalmerkmale spezifiziert, anhand derer in den vorgenannten spezifischen Fahrzuständen eine Defekt bedingte, situationstypische Anomalie erkannt werden kann.Furthermore, signal characteristics were specified for the detection of wear tendencies and component defects, on the basis of which a defect-related, situation-typical anomaly can be identified in the aforementioned specific driving conditions.
Eine Betrachtung und Auswertung der Signalmerkmale findet nur statt, wenn die zuvor beschriebenen Fahrzustände bestimmte qualitative und quantitative Randbedingungen erfüllen.The signal characteristics are only considered and evaluated if the driving conditions described above meet certain qualitative and quantitative boundary conditions.
Die wahrgenommenen Anomalien werden innerhalb eines statistischen Programmalgorithmus merkmalsspezifisch kumuliert und in ihrer Gesamtheit betrachtet, um eine Zustandsdiagnose für einzelne Bauteile oder Bauteilgruppen zu formulieren. Überschreiten die Signale in den beschriebenen kumulierten Merkmalsanomalien eine bestimmte Wahrnehmungsschwelle, wird eine Diagnosemeldung, z.B. durch Einschalten einer Warnlampe, ausgegeben oder ein Fehlerspeichereintrag vorgenommen.The perceived anomalies are accumulated in a statistical program algorithm in a feature-specific manner and viewed in their entirety in order to formulate a condition diagnosis for individual components or component groups. If the signals in the cumulative feature anomalies described exceed a certain perception threshold, a diagnostic message, e.g. by switching on a warning lamp, or an error memory entry is made.
Die beigefügte Abbildung (Fig.lA, Fig.lB, Fig. IC), die ein Ablaufdiagramm oder ein Flow-Chart zeigt, dient zur Veranschaulichung wesentlicher Merkmale und Schritte eines Ausführungsbeispiels des erfindungsgemäßen Verfahrens. Die einzelnen "Stationen" im Verfahrensablauf sind in den Fig.lA, Fig.lB, Fig. IC wie folgt bezeichnet und charakterisiert:The attached figure (Fig. 1A, Fig. IB, Fig. IC), which shows a flow chart or a flow chart, serves to illustrate essential features and steps of an embodiment of the method according to the invention. The individual “stations” in the process sequence are designated and characterized as follows in FIGS. 1A, 1B, 1C:
Fig.l A:Fig.l A:
1. "Signalkon iguration":1. "Signal configuration":
Es werden die benötigten oder zur Verfügung stehenden Informationen in Form von bestimmten Signalen zusammengestellt und ausgewertet. Die hier als relevant bewerteten und zur Durchführung des erfindungsgemäßen Überwachungsverfahrens herangezogenen Signale, wie Raddrehzahl, Lenk- winkel etc., sind in dem Diagramm wiedergegeben.The required or available information is compiled and evaluated in the form of certain signals. The signals evaluated here as relevant and used to carry out the monitoring method according to the invention, such as wheel speed, steering angles etc. are shown in the diagram.
2. Die "Situationsbewertung" umfasst folgende Einzelschritte oder Einzelmaßnahmen:2. The "situation assessment" comprises the following individual steps or individual measures:
2.1 "Fahrmanövererkennung", wie "Geradeausfahrt" oder "stabile Kurvenfahrt" etc.;2.1 "Driving maneuver detection", such as "driving straight ahead" or "stable cornering" etc .;
2.2 Bewertung der "Fahrzustandsausprägung" durch Maßzahlen oder Indizes;2.2 Evaluation of the "driving state characteristic" by means of measures or indices;
2.3 "Entscheidung" über die Relevanz der augenblicklichen FahrSituation ;2.3 "Decision" about the relevance of the current driving situation;
Fig.1B:1B:
3. "Merkmalsbewertung":3. "Characteristic evaluation":
3.1 "Erkennung" einer merkmalstypischen Signalkonstellation oder -kombination3.1 "Detection" of a characteristic signal constellation or combination
3.2 "Ausprägung"3.2 "Expression"
Berechnung eines Messwertes bzw. eines IndicesCalculation of a measured value or an index
3.3 "Normierung" des Messwertes;3.3 "standardization" of the measured value;
3.4 "Statistische Auswertung" der spezifischen Merkmale und Speicherung des aktuellen Wertes3.4 "Statistical evaluation" of the specific characteristics and storing the current value
3.5 "Lernphase"3.5 "Learning phase"
3.6 "Bewertung" des Lernfortschritts3.6 "Assessment" of learning progress
3.7 "Validierung" der aktuellen Werte3.7 "Validation" of the current values
Fig. IC:Fig. IC:
4. "Verdachtsbildung:4. "Suspicion formation:
Rechnerische Auswertung der erfassten InformationenComputational evaluation of the information recorded
4.1 Bildung einer "Verdachtsmatrix" aus den kumulierten, ge- wichteten Merkmalselementen korrelierender Merkmale aus unterschiedlichen Fahrzeug- oder Fahrsituationen;4.1 Formation of a "suspicion matrix" from the accumulated, weighted feature elements of correlated features from different vehicle or driving situations;
4.2 Bilden eines Mittelwerts auf Basis der "Verdachtsmatrix" zur Bestimmung eines Verdachtsmomentsindices als Maß für die Relevanz des aktuellen Verdachts;4.2 Forming an average on the basis of the "suspicion matrix" to determine a suspicion index as a measure of the relevance of the current suspicion;
4.3 Bildung und Bewertung des aktuellen "Verdachtmoments";4.3 Formation and assessment of the current "suspicion";
4.4 "Verdacht" formulieren, speichern und/oder anzeigen; Warnsignalausgabe, wenn erforderlich; 4.5 Korrektur des bisher gültigen "Wartungsintervalls".4.4 Formulate, save and / or display "suspicion"; Warning signal output if required; 4.5 Correction of the previously valid "maintenance interval".
Mit Hilfe eines Verfahrens der zuvor beschriebenen Art lässt sich also allein durch Auswertung der vorhandenen Informationen, ohne eine nennenswerte Erhöhung des Herstellungsaufwandes eine rechtzeitige Erkennung von Fahrwerksfehlern, Funktionsfehlern und anderen Defekten erreichen. Dies ist eine Voraussetzung für eine frühzeitige, kostengünstige Reparatur und reduziert die Gefahr von Schäden durch schleichenden und daher schwer erkennbaren Verschleiß. Die Fahrsicherheit wird entscheidend erhöht. With the aid of a method of the type described above, timely detection of chassis faults, functional faults and other defects can thus be achieved solely by evaluating the information available, without any appreciable increase in the manufacturing outlay. This is a prerequisite for an early, inexpensive repair and reduces the risk of damage due to creeping and therefore difficult to detect wear. Driving safety is significantly increased.

Claims

Patentansprüche : Claims:
1. Verfahren zur Überwachung von Fahrwerksfunktionen und Fahrwerksbauteilen eines Kraftfahrzeugs und/oder zum Erkennen von Verschleiß, Verschleißtrends, Bauteildefekten oder nachlassenden Funktionen, dadurch gekennzeichnet, dass Informationen, die im Fahrzeug vorhandene Regelungssysteme zur Verfügung stellen und/oder die mit zusätzlicher Sensorik gewonnen werden, ausgewertet werden, dass auf Basis dieser Informationen fahrdynamische Bewertungen bei reproduzierbaren Fahrzeug- oder Fahrzuständen durchgeführt werden und dass die fahrdynamischen Bewertungen zur statistischen Auswertung von spezifischen Merkmalen, die Fahrwerksfunktionen und/oder den Zustand von Fahrwerksbauteilen direkt oder indirekt wiedergeben, und schließlich zur Fehler- oder Mängelerkennung herangezogen werden.1.Procedure for monitoring chassis functions and chassis components of a motor vehicle and / or for recognizing wear, wear trends, component defects or diminishing functions, characterized in that information provided by the control systems present in the vehicle and / or which is obtained with additional sensors, are evaluated that on the basis of this information, vehicle dynamics evaluations are carried out in reproducible vehicle or driving conditions and that the vehicle dynamics evaluations for statistical evaluation of specific characteristics reflect the chassis functions and / or the condition of chassis components directly or indirectly, and finally for errors or Defect detection can be used.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass zum Erkennen der Fahrzeug- oder Fahrzustände und zur Durchführung der fahrdynamischen Bewertungen die folgenden Signale, welche die Sensoren eines im Fahrzeug vorhandenen elektronischen Bremssystems, wie ABS, ASR, ESP, etc., liefern, ausschließlich oder zusammen mit den Signalen von zusätzlichen Sensoren genutzt werden:2. The method according to claim 1, characterized in that for recognizing the vehicle or driving conditions and for carrying out the driving dynamics evaluations, the following signals which the sensors of an electronic braking system present in the vehicle, such as ABS, ASR, ESP, etc., deliver, can be used exclusively or together with the signals from additional sensors:
RaddrehzahlInformationen, Querbeschleunigung, Gierrate und Systemdruck. Wheel speed information, lateral acceleration, yaw rate and system pressure.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass zusätzlich die Fahrzeugverzögerung und/oder die Federwege ermittelt und ausgewertet werden.3. The method according to claim 1 or 2, characterized in that the vehicle deceleration and / or the spring travel are additionally determined and evaluated.
4. Verfahren nach einem oder mehreren der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass durch Mustererkennung auf Basis der Informationen, die die im Fahrzeug vorhandenen Regelungssysteme zur Verfügung stellen und/oder die mit zusätzlicher Sensorik gewonnen werden, eine oder mehrere der folgenden reproduzierbaren spezifischen Fahrzeug- oder Fahrzustände4. The method according to one or more of claims 1 to 3, characterized in that one or more of the following reproducible specific by pattern recognition based on the information provided by the control systems available in the vehicle and / or which are obtained with additional sensors Vehicle or driving conditions
Geradeausfahrt Kurvenfahrt Stabiles Fahrzeug Instabiles Fahrzeug Frei rollendes Fahrzeug Verzögertes Fahrzeug Beschleunigtes FahrzeugStraight ahead cornering Stable vehicle Unstable vehicle Free rolling vehicle Decelerated vehicle Accelerated vehicle
erkannt und ausgewertet werden.recognized and evaluated.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die erkannten spezifischen Fahrzeug- oder Fahrzustände und/oder Defekt bedingte, situationstypische Anomalien bei der Bewertung und Auswertung der mit Hilfe der vorhandenen oder zusätzlicher Sensorik gewonnen Informationen berücksichtigt werden.5. The method according to claim 4, characterized in that the identified specific vehicle or driving conditions and / or defect-related, situation-typical anomalies are taken into account when evaluating and evaluating the information obtained with the aid of the existing or additional sensors.
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass die Auswertung der erkannten Fahrzeug- oder Fahrzustände und/oder der Defekt bedingten, situationstypischen Anomalien nur stattfindet, wenn die Fahrzeug- oder Fahrzustände vorgegebene qualitative und quantitative Randbe- dingungen erfüllen oder Grenzwerte erreichen.6. The method according to claim 5, characterized in that the evaluation of the recognized vehicle or driving conditions and / or the defect-related, situation-typical anomalies takes place only if the vehicle or driving conditions predetermined qualitative and quantitative marginal meet conditions or reach limit values.
7. Verfahren nach Anspruch 5 oder 6, dadurch gekennzeichnet, dass die erkannten Anomalien innerhalb eines statistischen Programmalgorithmus merkmalsspezifisch kumuliert und in ihrer Gesamtheit betrachtet und bewertet werden.7. The method according to claim 5 or 6, characterized in that the detected anomalies are accumulated feature-specifically within a statistical program algorithm and viewed and evaluated in their entirety.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass ein Warnsignal ausgegeben und/oder ein Fehlerspeichereintrag vorgenommen wird, sobald die Anomalien erkannt werden oder eine vorgegebene Wahrnehmungsschwelle überschritten haben. 8. The method according to claim 7, characterized in that a warning signal and / or an error memory entry is made as soon as the anomalies are detected or have exceeded a predetermined perception threshold.
EP03794919A 2002-08-27 2003-08-22 Method for monitoring chassis functions and chassis components Withdrawn EP1536994A1 (en)

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