EP1575814A2 - Method and device for detecting longitudinal and transversal acceleration of a vehicle - Google Patents

Method and device for detecting longitudinal and transversal acceleration of a vehicle

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Publication number
EP1575814A2
EP1575814A2 EP03799594A EP03799594A EP1575814A2 EP 1575814 A2 EP1575814 A2 EP 1575814A2 EP 03799594 A EP03799594 A EP 03799594A EP 03799594 A EP03799594 A EP 03799594A EP 1575814 A2 EP1575814 A2 EP 1575814A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
acceleration
longitudinal
movement
angle
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Withdrawn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
EP03799594A
Other languages
German (de)
French (fr)
Inventor
Joachim Maas
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 EP1575814A2 publication Critical patent/EP1575814A2/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Withdrawn legal-status Critical Current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
    • B60G17/019—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 type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B60G2400/1042—Acceleration; Deceleration lateral or transversal with regard to vehicle using at least two sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • B60G2400/1062—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking using at least two sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/90—Single sensor for two or more measurements
    • B60G2401/902—Single sensor for two or more measurements the sensor being an xy axis sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/90—Single sensor for two or more measurements
    • B60G2401/904—Single sensor for two or more measurements the sensor being an xyz axis sensor
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • 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
    • B60W2422/00—Indexing codes relating to the special location or mounting of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration

Definitions

  • the invention relates to a device for detecting a vehicle longitudinal and lateral acceleration according to the preamble of claim 1.
  • German patent specification DE 196 11 359 C1 discloses a method for preventing an inadvertent rolling away of a stationary vehicle, wherein brake pressure is maintained in order to prevent rolling away in wheel brake cylinders and wherein the maintained brake pressure is dependent on the actuation of the brake pedal, and wherein the speed of the vehicle is detected.
  • This known method is characterized in that an actuating force applied by the driver is recorded as a representative quantity, and the braking pressure is applied in such a way that at least one holding pressure required to hold the vehicle is applied.
  • the invention further relates to a method in which a lateral acceleration of a vehicle is determined and wherein a steering movement is influenced as a function of the lateral acceleration.
  • the invention also relates to a method for preventing an inadvertent rolling away of a stationary vehicle, wherein a braking force is maintained to prevent the vehicle from rolling away, and a speed of the vehicle is detected.
  • the invention has for its object to provide a method and a device that enables a quick and reliable determination of a vehicle longitudinal and lateral acceleration with the least possible design effort.
  • this object is achieved by a method in which two acceleration components which are oriented substantially perpendicular to one another are determined, and at least one of the acceleration components has an angle between 10 ° and 80 ° with respect to the longitudinal movement direction of the vehicle.
  • a particularly preferred embodiment of the invention is characterized in that at least one acceleration component is determined at an angle of approximately 45 ° to the longitudinal direction of movement of the vehicle.
  • the acceleration value is determined using the equations
  • the invention also provides for the use of an evaluation unit.
  • the evaluation unit logically links the measurement data recorded and analyzed by the sensors.
  • the link is expediently carried out in such a way that longitudinal acceleration values and lateral acceleration values are determined. It is particularly expedient to determine lateral acceleration values in at least two different ways.
  • the redundancy of the acceleration values is particularly advantageous when important vehicle functions are controlled depending on them. This is particularly advantageous if a steering movement or a braking force of the vehicle is to be controlled.
  • a particularly preferred embodiment of the invention provides for a method for controlling a steering movement of a vehicle, in which a lateral acceleration of the vehicle is determined and the steering movement being regulated as a function of the lateral acceleration, in such a way that the lateral acceleration takes account of acceleration Inclination components is determined, wherein the acceleration components have an angle between 10 ° and 80 ° with respect to the longitudinal direction of movement of the vehicle.
  • Another, likewise preferred embodiment of the invention provides a method for preventing an inadvertent rolling away of a stationary vehicle, wherein a braking force is maintained to prevent the rolling away, and wherein a speed of the vehicle is detected so that the braking force is dependent on a longitudinal acceleration of the vehicle Vehicle is controlled and that the longitudinal acceleration is determined taking into account acceleration components, wherein the acceleration components have an angle between 10 ° and 80 ° with respect to the longitudinal direction of movement of the vehicle.
  • Fig. 1 is a schematic diagram of a known arrangement of acceleration sensors
  • Fig. 2 shows a schematic diagram of an arrangement of the acceleration sensors according to the invention.
  • the known sensor arrangement is characterized in that it has at least one acceleration sensor for measuring a longitudinal acceleration and has at least two further sensors for independent measurement of transverse acceleration values.
  • the vehicle is in particular a land vehicle, preferably a passenger car or truck.
  • the vehicle has wheels Ri, R 2f R 3 and R 4 .
  • Several of the wheels are powered.
  • the invention can be used regardless of the number of driven wheels and is therefore suitable for vehicles with rear-wheel drive as well as with front-wheel drive or all-wheel drive.
  • the wheels Preferably, several or all of the wheels have Ri, R 2 , R 3 and R.
  • Wheel sensors RSi, RS 2 , RS 3 and RS 4 measure rotational speeds and rotational accelerations of the individual wheels R lf R 2 , R 3 and R 4 .
  • the vehicle experiences a positive or negative longitudinal acceleration
  • the vehicle has two sensors Si and S 2 arranged essentially perpendicular to one another.
  • the sensors Si and S 2 are designed in such a way that they determine acceleration values in a respective detection direction.
  • the sensors are aligned in such a way that they each have an angle between 10 ° and 80 °, preferably approximately 45 °, with respect to the main direction of movement of the vehicle.
  • the acceleration sensors shown in FIG. 2 have an angle of 90 ° to one another and an angle of 45 ° to the main direction of movement of the vehicle.
  • the measuring direction of the sensors includes an angle of approximately 45 ° to the main direction of movement of the vehicle.
  • the invention is suitable for use for preventing the vehicle from rolling back on gradients, for controlling active steering and for electronic stability controls.
  • Particularly preferred embodiments of the invention include methods for regulating the driving stability of the vehicle, in which the input variables essentially determined by the desired driving curve are converted into the target value of a yaw angle variable on the basis of a vehicle model defined by computing variables, and this in one Comparator is compared with an actual value of the yaw angle variable determined by means of a sensor, the determined difference value being fed to a control system by calculating a torque variable which is used to determine pressure variables which generate an additional yaw moment via the wheel brakes of the vehicle, which generates the measured yaw moment Yaw angle size added to the calculated yaw angle size.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Regulating Braking Force (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention relates to a method for detecting longitudinal and transversal acceleration of a vehicle. At least two sensors (51, 52) determine acceleration components which are orientated in an essentially perpendicular manner in relation to each other. Said method is characterised in that the acceleration components have an angle of between 10 °C and 80 °C in relation to the longitudinal direction of displacement of the vehicle. The invention also relates to a device which is suitable for carrying out said method.

Description

Verfahren und Vorrichtung zur Erfassung einer Fahrzeuglängsund -querbeschleunigung Method and device for detecting a longitudinal and lateral acceleration of a vehicle
Die Erfindung betrifft eine Vorrichtung zur Erfassung einer Fahrzeuglängs- und -querbeschleunigung nach dem Oberbegriff des Anspruchs 1.The invention relates to a device for detecting a vehicle longitudinal and lateral acceleration according to the preamble of claim 1.
Aus der deutschen Offenlegungsschrift DE 42 08 141 AI ist eine Antiblockiersteuerung für Kraftfahrzeuge bekannt, die Gier- winkelbeschleunigungs-Erfassungseinrichtungen mit zwei Beschleunigungssensoren aufweist. Die Beschleunigungssensoren besitzen die gleichen Beschleunigungserfassungsrichtungen und sind in gegenseitigem Abstand in einer durch denFrom German published patent application DE 42 08 141 AI an anti-lock control for motor vehicles is known which has yaw angle acceleration detection devices with two acceleration sensors. The acceleration sensors have the same acceleration detection directions and are spaced apart by the
Fahrzeugschwerpunkt verlaufenden gemeinsamen Ebene fest angeordnet .Vehicle center trending common plane fixed.
Die deutsche Patentschrift DE 196 11 359 Cl offenbart ein Ver- fahren zum Verhindern eines unbeabsichtigten Wegrollens eines stillstehenden Fahrzeuges, wobei zum Verhindern des Wegrollens in Radbremszylindern ein Bremsdruck aufrechterhalten wird und wobei der aufrechterhaltene Bremsdruck von der Betätigung des Bremspedals abhängig ist, und wobei die Geschwindigkeit des Fahrzeugs erfasst wird. Dieses bekannte Verfahren zeichnet sich dadurch aus, dass eine vom Fahrer aufgebrachte Betätigungskraft als repräsentierende Größe erfasst wird, und wobei der Bremsdruck so erfolgt, dass mindestens ein für das Halten des Fahrzeuges erforderlicher Haltedruck aufgebracht wird. Die Erfindung betrifft ferner ein Verfahren, bei dem eine Querbeschleunigung eines Fahrzeuges ermittelt wird und wobei in Abhängigkeit von der Querbeschleunigung eine Lenkbewegung beeinflusst wird.German patent specification DE 196 11 359 C1 discloses a method for preventing an inadvertent rolling away of a stationary vehicle, wherein brake pressure is maintained in order to prevent rolling away in wheel brake cylinders and wherein the maintained brake pressure is dependent on the actuation of the brake pedal, and wherein the speed of the vehicle is detected. This known method is characterized in that an actuating force applied by the driver is recorded as a representative quantity, and the braking pressure is applied in such a way that at least one holding pressure required to hold the vehicle is applied. The invention further relates to a method in which a lateral acceleration of a vehicle is determined and wherein a steering movement is influenced as a function of the lateral acceleration.
Außerdem betrifft die Erfindung ein Verfahren zum Verhindern eines unbeabsichtigten Wegrollens eines stillstehenden Fahrzeuges, wobei zum Verhindern des Wegrollens eine Bremskraft aufrechterhalten wird und wobei eine Geschwindigkeit des Fahrzeuges erfasst wird.The invention also relates to a method for preventing an inadvertent rolling away of a stationary vehicle, wherein a braking force is maintained to prevent the vehicle from rolling away, and a speed of the vehicle is detected.
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zu schaffen, die eine schnelle und zuverlässige Ermittlung einer Fahrzeuglängs- und -querbeschleuni- gung mit einem möglichst geringen konstruktiven Aufwand ermöglicht .The invention has for its object to provide a method and a device that enables a quick and reliable determination of a vehicle longitudinal and lateral acceleration with the least possible design effort.
Erfindungsgemäß wird diese Aufgabe durch ein Verfahren gelöst, bei dem zwei im Wesentlichen senkrecht zueinander ausge- richtete Beschleunigungskomponenten ermittelt werden, und wobei wenigstens eine der Beschleunigungskomponenten gegenüber der Längsbewegungsrichtung des Fahrzeuges einen Winkel zwischen 10° und 80° aufweist.According to the invention, this object is achieved by a method in which two acceleration components which are oriented substantially perpendicular to one another are determined, and at least one of the acceleration components has an angle between 10 ° and 80 ° with respect to the longitudinal movement direction of the vehicle.
Eine besonders bevorzugte Ausführungsform der Erfindung zeichnet sich dadurch aus, dass wenigstens eine Beschleunigungskomponente in einem Winkel von etwa 45° zur Längsbewegungsrichtung des Fahrzeuges ermittelt wird.A particularly preferred embodiment of the invention is characterized in that at least one acceleration component is determined at an angle of approximately 45 ° to the longitudinal direction of movement of the vehicle.
Die Ermittlung des Beschleunigungswertes erfolgt über die GleichungenThe acceleration value is determined using the equations
(1) Messl = aq * cos η - ai * sin η(1) Messl = a q * cos η - ai * sin η
(2) Mess2 = aq * cos η + ai * sin η, wobei aq eine Querbeschleunigung des Fahrzeuges, η einen Winkel zwischen der Längsbeschleunigungsrichtung und einer Erfassungsrichtung einer Beschleunigungskomponente und ai die Längsbeschleunigung bezeichnet.(2) Mess2 = a q * cos η + ai * sin η, where a q denotes a lateral acceleration of the vehicle, η an angle between the longitudinal acceleration direction and a detection direction of an acceleration component, and ai the longitudinal acceleration.
Durch Umformen entsprechend den in der europäischen Patentschrift EP 0 769 701 Bl dargestellten Berechnungsschritten ergibt sich eine Abweichungskomponente k gegenüber der erwartetenReshaping in accordance with the calculation steps shown in European patent EP 0 769 701 B1 results in a deviation component k compared to the expected one
Die Erfindung sieht ferner einen Einsatz einer Auswerteeinheit vor. Die Auswerteeinheit bewirkt eine logische Verknüpfung der von den Sensoren erfassten und analysierten Messdaten. Zweckmäßigerweise erfolgt die Verknüpfung so, dass Längsbeschleunigungswerte und Querbeschleunigungswerte ermittelt werden. Besonders zweckmäßig ist es, Querbeschleunigungswerte auf wenigstens zwei voneinander verschiedene Arten zu ermitteln. Die Redundanz der Beschleunigungswerte ist insbesondere dann von Vorteil, wenn wichtige Fahrzeugfunktionen in Abhängigkeit von ihnen gesteuert werden. Dies ist insbesondere dann von Vorteil, wenn eine Lenkbewegung oder eine Bremskraft des Fahrzeuges gesteuert werden soll.The invention also provides for the use of an evaluation unit. The evaluation unit logically links the measurement data recorded and analyzed by the sensors. The link is expediently carried out in such a way that longitudinal acceleration values and lateral acceleration values are determined. It is particularly expedient to determine lateral acceleration values in at least two different ways. The redundancy of the acceleration values is particularly advantageous when important vehicle functions are controlled depending on them. This is particularly advantageous if a steering movement or a braking force of the vehicle is to be controlled.
Eine besonders bevorzugte Ausführungsform der Erfindung sieht vor, ein Verfahren zur Steuerung einer Lenkbewegung eines Fahrzeuges, bei dem eine Querbeschleunigung des Fahrzeuges ermittelt wird und wobei die Lenkbewegung in Abhängigkeit von der Querbeschleunigung geregelt wird, so durchzuführen, dass die Querbeschleunigung unter Berücksichtigung von Beschleu- nigungskomponenten ermittelt wird, wobei die Beschleunigungskomponenten gegenüber der Längsbewegungsrichtung des Fahrzeuges einen Winkel zwischen 10° und 80° aufweisen.A particularly preferred embodiment of the invention provides for a method for controlling a steering movement of a vehicle, in which a lateral acceleration of the vehicle is determined and the steering movement being regulated as a function of the lateral acceleration, in such a way that the lateral acceleration takes account of acceleration Inclination components is determined, wherein the acceleration components have an angle between 10 ° and 80 ° with respect to the longitudinal direction of movement of the vehicle.
Eine andere, gleichfalls bevorzugte Ausführungsform der Erfindung sieht ein Verfahren zum Verhindern eines unbeabsichtigten Wegrollens eines stillstehenden Fahrzeuges, wobei zum Verhindern des Wegrollens eine Bremskraft aufrechterhalten wird, und wobei eine Geschwindigkeit des Fahrzeuges erfasst wird, so durchzuführen, dass die Bremskraft in Abhängigkeit einer Längsbeschleunigung des Fahrzeuges gesteuert wird und dass die Längsbeschleunigung unter Berücksichtigung von Beschleunigungskomponenten ermittelt wird, wobei die Beschleunigungskomponenten gegenüber der Längsbewegungsrichtung des Fahrzeuges einen Winkel zwischen 10° und 80° aufweisen.Another, likewise preferred embodiment of the invention provides a method for preventing an inadvertent rolling away of a stationary vehicle, wherein a braking force is maintained to prevent the rolling away, and wherein a speed of the vehicle is detected so that the braking force is dependent on a longitudinal acceleration of the vehicle Vehicle is controlled and that the longitudinal acceleration is determined taking into account acceleration components, wherein the acceleration components have an angle between 10 ° and 80 ° with respect to the longitudinal direction of movement of the vehicle.
Weitere Vorteile, Besonderheiten und zweckmäßige Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen und der nachfolgenden Darstellung bevorzugter Ausführungsbeispiele der Erfindung anhand der Zeichnungen.Further advantages, special features and expedient developments of the invention result from the subclaims and the following illustration of preferred exemplary embodiments of the invention with reference to the drawings.
Von den Zeichnungen zeigt:From the drawings shows:
Fig. 1 eine Prinzipdarstellung einer bekannten Anordnung von Beschleunigungssensoren undFig. 1 is a schematic diagram of a known arrangement of acceleration sensors and
Fig. 2 eine Prinzipdarstellung einer erfindungsgemäßen Anordnung der Beschleunigungssensoren.Fig. 2 shows a schematic diagram of an arrangement of the acceleration sensors according to the invention.
Fig. 1 zeigt ein Fahrzeug, welches eine Sensoranordnung nach dem Stand der Technik aufweist. Die bekannte Sensoranordnung zeichnet sich dadurch aus, dass sie wenigstens einen Beschleunigungssensor zur Messung einer Längsbeschleunigung und wenigstens zwei weitere Sensoren zur voneinander unabhängigen Messung von Querbeschleunigungswerten aufweist.1 shows a vehicle which has a sensor arrangement according to the prior art. The known sensor arrangement is characterized in that it has at least one acceleration sensor for measuring a longitudinal acceleration and has at least two further sensors for independent measurement of transverse acceleration values.
Fig. 2 zeigt ein mit einer erfindungsgemäßen Sensoranordnung ausgestattetes Fahrzeug. Bei dem Fahrzeug handelt es sich insbesondere um ein Landfahrzeug, vorzugsweise einen Personenkraft- oder Lastkraftwagen.2 shows a vehicle equipped with a sensor arrangement according to the invention. The vehicle is in particular a land vehicle, preferably a passenger car or truck.
Das Fahrzeug weist Räder Ri, R2f R3 und R4 auf. Mehrere der Räder sind angetrieben. Die Erfindung ist unabhängig von der Anzahl angetriebener Räder einsetzbar und eignet sich daher sowohl für Fahrzeuge mit Heckantrieb, als auch mit Vorderradantrieb oder Allradantrieb.The vehicle has wheels Ri, R 2f R 3 and R 4 . Several of the wheels are powered. The invention can be used regardless of the number of driven wheels and is therefore suitable for vehicles with rear-wheel drive as well as with front-wheel drive or all-wheel drive.
Vorzugsweise weisen mehrere oder alle Räder Ri, R2, R3 und RPreferably, several or all of the wheels have Ri, R 2 , R 3 and R.
Radsensoren RSi, RS2, RS3 und RS4 auf. Die Radsensoren RSi, RS2, RS3 und RS4 messen Drehgeschwindigkeiten und Drehbeschleunigungen der einzelnen Räder Rlf R2, R3 und R4.Wheel sensors RSi, RS 2 , RS 3 and RS 4 . The wheel sensors RSi, RS 2 , RS 3 and RS 4 measure rotational speeds and rotational accelerations of the individual wheels R lf R 2 , R 3 and R 4 .
Durch einen Motor oder mehrere Motoren, die jeweils aus Vereinfachungsgründen nicht dargestellt sind, werden mehrere oder sämtliche Räder Ri, R2, R3 und R angetrieben.Several or all of the wheels Ri, R 2 , R 3 and R are driven by a motor or a plurality of motors, each of which is not shown for reasons of simplification.
Ferner sind mehrere oder alle Räder Ri, R2, R3 und R4 mit Bremsen versehen. Die Bremsen werden in Abhängigkeit vonFurthermore, several or all of the wheels Ri, R 2 , R 3 and R 4 are provided with brakes. The brakes are dependent on
Steuerbefehlen eines Fahrers des Fahrzeuges sowie von in dem Fahrzeug vorgesehenen Steuerschaltungen, insbesondere von Antiblockier- oder Antriebsschlupfregelungen, gesteuert.Control commands from a driver of the vehicle and from control circuits provided in the vehicle, in particular anti-lock or traction control systems, are controlled.
In Abhängigkeit von auf die Räder übertragenen Kräften erfährt das Fahrzeug eine positive oder negative Längsbeschleunigung Ferner weist das Fahrzeug zwei im Wesentlichen senkrecht zueinander angeordnete Sensoren Si und S2 auf. Die Sensoren Si und S2 sind so gestaltet, dass sie Beschleunigungswerte in jeweils einer Erfassungsrichtung ermitteln. Die Sensoren sind hierbei so ausgerichtet, dass sie jeweils gegenüber der Hauptbewegungsrichtung des Fahrzeuges einen Winkel zwischen 10° und 80°, vorzugsweise etwa 45° aufweisen.Depending on the forces transmitted to the wheels, the vehicle experiences a positive or negative longitudinal acceleration Furthermore, the vehicle has two sensors Si and S 2 arranged essentially perpendicular to one another. The sensors Si and S 2 are designed in such a way that they determine acceleration values in a respective detection direction. The sensors are aligned in such a way that they each have an angle between 10 ° and 80 °, preferably approximately 45 °, with respect to the main direction of movement of the vehicle.
Die in Fig. 2 dargestellten Beschleunigungssensoren weisen zueinander einen Winkel von 90° und einen Winkel von 45° zur Hauptbewegungsrichtung des Fahrzeugs auf. Die Messrichtung der Sensoren beinhaltet einen Winkel von etwa 45° gegenüber der Hauptbewegungsrichtung des Fahrzeugs.The acceleration sensors shown in FIG. 2 have an angle of 90 ° to one another and an angle of 45 ° to the main direction of movement of the vehicle. The measuring direction of the sensors includes an angle of approximately 45 ° to the main direction of movement of the vehicle.
Durch einen Vergleich zwischen den Messwerten der beiden Sensoren Si und S2 und einer Einbeziehung der jeweiligen Vorzeichen der von den Sensoren Si und S2 ermittelten Beschleunigungskomponenten ist es möglich, eine auftretende Querbeschleunigung zu ermitteln. Außerdem wird die Längsbeschleu- nigung aiängs a s der Kombination der Messwerte der Sensoren Sx und S2 ermittelt.By comparing the measured values of the two sensors Si and S 2 and including the respective signs of the acceleration components determined by the sensors Si and S 2 , it is possible to determine a transverse acceleration that occurs. In addition, the longitudinal acceleration along the combination of the measured values of the sensors S x and S 2 is determined.
Insbesondere eignet sich die Erfindung für einen Einsatz zum Verhindern eines Rückrollens des Fahrzeuges an Steigungen, zur Steuerung von Aktivlenkungen und für elektronische Stabilitätsregelungen .In particular, the invention is suitable for use for preventing the vehicle from rolling back on gradients, for controlling active steering and for electronic stability controls.
Besonders bevorzugte Ausführungsformen der Erfindung beinhalten Verfahren zur Regelung der Fahrstabilität des Fahr- zeuges, bei dem die im Wesentlichen durch die gewünschte Fahrkurve bestimmten Eingangsgrößen aufgrund eines durch Rechengrößen festgelegten Fahrzeugmodells in den Sollwert einer Gierwinkelgröße umgerechnet werden, und dieser in einem Vergleicher mit einem mittels eines Sensors bestimmten Ist- Wert der Gierwinkelgröße verglichen wird, wobei der festgestellte Differenzwert einer Regelung zugeführt wird, indem eine Drehmomentgröße berechnet wird, welche zur Festlegung von Druckgrößen dient, die über die Radbremsen des Fahrzeugs ein Zusatzgiermoment erzeugen, welches die gemessene Gierwinkelgröße zu der errechneten Gierwinkelgröße hinzuführt.Particularly preferred embodiments of the invention include methods for regulating the driving stability of the vehicle, in which the input variables essentially determined by the desired driving curve are converted into the target value of a yaw angle variable on the basis of a vehicle model defined by computing variables, and this in one Comparator is compared with an actual value of the yaw angle variable determined by means of a sensor, the determined difference value being fed to a control system by calculating a torque variable which is used to determine pressure variables which generate an additional yaw moment via the wheel brakes of the vehicle, which generates the measured yaw moment Yaw angle size added to the calculated yaw angle size.
Insbesondere ist es vorteilhaft, durch gezielte Eingriffe an Bremsen einzelner der Räder Ri, R2, R3 und R4 negative Längsbeschleunigungen (Bremsungen) oder zusätzliche Drehmomente zu schaffen, welche eine tatsächlich gemessene Gierwinkelgeschwindigkeit des Fahrzeuges zu einer von Fahrer vorgegebenen Gierwinkelgeschwindigkeit hinführen.In particular, it is advantageous to create negative longitudinal accelerations (braking) or additional torques through targeted interventions on brakes of individual wheels Ri, R 2 , R 3 and R 4 , which lead an actually measured yaw rate of the vehicle to a yaw rate specified by the driver.
Bei einem Einsatz zur Steuerung des Lenkverhaltens mittels gezielten Abbremsens der Räder und/oder einer gezielten Veränderung eines Lenkeingriffs in eine WinkelStellung eines oder mehrerer Räder ist es möglich, das tatsächliche resultierende Drehmoment in Übereinstimmung mit einem gewünschten Drehmoment zu bringen. When used to control the steering behavior by deliberately braking the wheels and / or deliberately changing a steering intervention into an angular position of one or more wheels, it is possible to bring the actual resulting torque into agreement with a desired torque.

Claims

Patentansprüche : Claims:
1. Verfahren zur Erfassung einer Fahrzeuglängs- und -quer- beschleunigung, wobei mindestens zwei Sensoren im Wesentlichen senkrecht zueinander ausgerichtete Beschleunigungskomponenten ermitteln, daduzrcli gekennzeichnet, dass die Beschleunigungskomponenten gegenüber der Längs- bewegungsrichtung des Fahrzeuges einen Winkel zwischen 10° und 80° aufweisen.1. A method for detecting a longitudinal and transverse acceleration of the vehicle, at least two sensors determining acceleration components oriented essentially perpendicular to one another, characterized in that the acceleration components have an angle between 10 ° and 80 ° with respect to the longitudinal direction of movement of the vehicle.
2. Verfahren nach Anspruch 1, dadurch ' gekennzeichnet , dass wenigstens eine der Beschleunigungskomponenten in einem Winkel von etwa 45° zur Längsbewegungsrichtung des Fahrzeuges ermittelt wird.2. The method according to claim 1, characterized in that at least one of the acceleration components is determined at an angle of approximately 45 ° to the longitudinal direction of movement of the vehicle.
3. Verfahren nach einem oder beiden der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass eine Auswerteeinheit anhand eines Vergleichs zwischen einer erwarteten Längsbeschleunigung und den gemessenen Beschleunigungskomponenten die tatsächliche Längsbeschleunigung sowie eine auftretende Querbeschleunigung ermittelt.3. The method according to one or both of claims 1 or 2, characterized in that an evaluation unit uses a comparison between an expected longitudinal acceleration and the measured acceleration components to determine the actual longitudinal acceleration and any transverse acceleration that occurs.
4. Verfahren zur Steuerung einer Lenkbewegung eines Fahrzeuges, bei dem eine Querbeschleunigung des Fahrzeuges ermittelt wird und wobei die Lenkbewegung in Abhängigkeit' von der Querbeschleunigung geregelt wird, dadurch gekennzeichnet, dass die Querbeschleunigung unter Berücksichtigung von Beschleunigungskomponenten ermittelt wird, wobei die Beschleunigungskomponenten gegenüber der Längsbewegungs- richtung des Fahrzeuges einen Winkel zwischen 10° und 80° aufweisen .4. A method for controlling a steering movement of a vehicle, in which a lateral acceleration of the vehicle is determined and wherein the steering movement in response to 'controlled by the lateral acceleration, characterized in that the transverse acceleration is determined in consideration of acceleration components, wherein the acceleration components with respect to the longitudinal movement - direction of the vehicle have an angle between 10 ° and 80 °.
5. Verfahren zum Verhindern eines unbeabsichtigten Wegrollens eines stillstehenden Fahrzeuges, wobei zum Verhindern des5. A method for preventing an unintentional rolling away of a stationary vehicle, wherein to prevent the
Wegrollens eine Bremskraft aufrechterhalten wird, und wobei eine Geschwindigkeit des Fahrzeuges erfasst wird, dadurch gekennzeichnet, dass die Bremskraft in Abhängigkeit einer Längsbeschleuni- gung des Fahrzeuges gesteuert wird und dass die Längsbeschleunigung unter Berücksichtigung von Beschleunigungs- komponenten ermittelt wird, wobei die Beschleunigungskomponenten gegenüber der Längsbewegungsrichtung des Fahrzeuges einen Winkel zwischen 10° und 80° aufweisen.Rolling away a braking force is maintained, and wherein a speed of the vehicle is detected, characterized in that the braking force is controlled as a function of a longitudinal acceleration of the vehicle and that the longitudinal acceleration is determined taking into account acceleration components, the acceleration components compared to the longitudinal movement direction of the vehicle have an angle between 10 ° and 80 °.
6. Vorrichtung zur Erfassung einer Fahrzeugslängs- und querbeschleunigung mit wenigstens zwei im Wesentlichen senkrecht zueinander ausgerichteten Sensoren und einer Auswerteeinheit, dadurch gekennzeichnet, dass die Sensoren so ausgerichtet sind, dass ihre Erfassungsrichtung gegenüber einer Längsbewegungsrichtung des Fahrzeugs einen Winkel zwischen 10° und 80° aufweist.6. Device for detecting a longitudinal and transverse acceleration of the vehicle with at least two essentially perpendicular sensors and an evaluation unit, characterized in that the sensors are oriented such that their detection direction has an angle between 10 ° and 80 ° with respect to a longitudinal direction of movement of the vehicle ,
7. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet , dass die Sensoren so ausgerichtet sind, dass ihre Erfassungsrichtung gegenüber der Längsbewegungsrichtung des Fahrzeuges einen Winkel von etwa 45° aufweist. 7. The device according to claim 6, characterized in that the sensors are aligned so that their detection direction with respect to the longitudinal direction of movement of the vehicle has an angle of approximately 45 °.
EP03799594A 2002-12-19 2003-12-19 Method and device for detecting longitudinal and transversal acceleration of a vehicle Withdrawn EP1575814A2 (en)

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PCT/EP2003/051084 WO2004056632A2 (en) 2002-12-19 2003-12-19 Method and device for detecting longitudinal and transversal acceleration of a vehicle

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