EP1722991A1 - Procede de regulation de la dynamique de roulement d'un vehicule a moteur, dispositif permettant la mise en oeuvre dudit procede et son utilisation - Google Patents

Procede de regulation de la dynamique de roulement d'un vehicule a moteur, dispositif permettant la mise en oeuvre dudit procede et son utilisation

Info

Publication number
EP1722991A1
EP1722991A1 EP05716973A EP05716973A EP1722991A1 EP 1722991 A1 EP1722991 A1 EP 1722991A1 EP 05716973 A EP05716973 A EP 05716973A EP 05716973 A EP05716973 A EP 05716973A EP 1722991 A1 EP1722991 A1 EP 1722991A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
yaw rate
rolling moment
driving
state variable
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.)
Ceased
Application number
EP05716973A
Other languages
German (de)
English (en)
Inventor
Ralf Schwarz
Thomas Raste
Steffen TRÖSTER
Matthias Muntu
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 EP1722991A1 publication Critical patent/EP1722991A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • B60G21/055—Stabiliser bars
    • 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
    • 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
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • 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
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces

Definitions

  • the invention relates to a method for regulating the driving dynamics of a vehicle, in which a target value of a driving state variable corresponding to a driver specification is compared with a detected actual value of the driving state variable, and in which a rolling moment distribution is recorded and changed.
  • the invention further relates to a device for regulating the driving dynamics of a vehicle which is suitable for carrying out the method and which contains a means for rolling torque support on a front axle and on a rear axle of the vehicle and sensors for detecting at least one driving state variable.
  • Yaw moment control is known under the name ESP (Electronic Stability Program), which influences the driving behavior of a vehicle through an automatic build-up of pressures in individual wheel brakes and by an intervention in the engine management of the drive engine.
  • a control intervention is carried out if the difference between a measured actual yaw rate and one based on the driving target calculated yaw rate exceeds a certain threshold. The type and strength of the intervention depend on the value of this difference.
  • the braking interventions and the interventions in the drive train lead to a braking of the vehicle and are perceived by a driver as an impairment of the driving dynamics.
  • the control interventions are therefore not suitable for improving the driving behavior of a vehicle in the handling area and are only carried out in critical driving situations.
  • Safety, comfort and handling of a vehicle are essentially determined by suspension and damping on the wheels as well as by two stabilizers that connect the right and left wheels on the front and rear axles.
  • Chassis systems with adjustable dampers which bring about a reduction in dynamic swaying and an increase in agility as a result of damper hardening dependent on transverse acceleration or steering angle.
  • a further development of the adjustable damping systems is the semi-active Skyhook system, in which damping forces are adjusted individually for each wheel so that the body behaves as if it were attached to the sky with a hook.
  • the stabilizers are usually designed as transverse torsion bar springs which are twisted when the vehicle body rolls, that is, when the wheels of one axle move in opposite directions. This provides a restoring moment around the roll axis and stabilizes the vehicle.
  • DDC Dynamic Drive Control
  • the lateral acceleration of the vehicle is recorded and a roll moment to be expected due to high lateral accelerations is corrected by a suitable stabilizer control.
  • the known methods and systems are based on improving the driving dynamics of a vehicle in safety-critical or comfort-reducing driving situations.
  • the invention is therefore based on the object of adapting the driving behavior of a vehicle to a desired behavior in any driving maneuvers.
  • the object is achieved by a method according to claim 1.
  • the object is further achieved by a device according to claim 18.
  • a method for regulating the driving dynamics of a vehicle in which a target value of a driving state variable corresponding to a driver specification is compared with a detected actual value of the driving state variable, and in which a rolling moment distribution of the vehicle is recorded and changed.
  • the method is characterized in that a driving behavior of the vehicle is determined on the basis of the comparison of the target value of the driving state variable with its actual value,... That a new rolling moment distribution that corresponds to a predetermined driving behavior is determined as a function of the determined driving behavior, and that the determined rolling moment distribution is set.
  • the inventive method enables one of the
  • the reaction of the vehicle is compared with the driver's request and adapted to the driver's request by setting a suitable rolling moment distribution.
  • the method according to the invention thus differs from methods in which measured values of driving state variables are compared with critical values and regulation is carried out when the threshold values are exceeded.
  • the method is carried out independently of threshold values that indicate critical driving behavior. This makes it possible to adapt the driving behavior to a desired driving behavior even in the uncritical range and thus, for example, to increase the agility of the vehicle and thus, in addition to safety, driving pleasure.
  • Regulation of the driving dynamics in uncritical driving situations is also made possible by the fact that the invention provides for a change in the rolling moment distribution to influence the driving behavior, which, unlike a deceleration of the entire vehicle or individual wheels by an ESP in critical driving situations, is unaffected by the driver - notice remains. Instead, this perceives improved handling and greater agility of the vehicle.
  • the change in the rolling moment distribution provided according to the invention can be carried out by intervening in adjustable dampers and / or in a stabilizer on the rear axle and / or on the front axle.
  • a preferred embodiment of the method is therefore characterized in that the roll moment distribution determined as a function of the driving behavior is set by actuating at least one stabilizer on a front and / or rear axle of the vehicle.
  • the rolling moment distribution is set by actuating at least one adjustable damper on a wheel.
  • both dampers on one axle are preferably actuated.
  • the invention makes it possible to influence the horizontal dynamics by changing the vertical dynamics of the vehicle.
  • the intervention in the roll moment distribution can be carried out dynamically, ie briefly during a driving maneuver, but the roll moment distribution can also be adjusted statically. . "
  • the embodiment of the method in which a dynamic change in the rolling moment distribution is provided serves in particular to improve the driving behavior during certain driving maneuvers.
  • the desired driving behavior can be permanently impressed on the vehicle, which overlaps the mechanically determined vehicle design.
  • the method according to the invention is particularly suitable for influencing the self-steering behavior of the vehicle.
  • a new rolling moment distribution is therefore set which corresponds to a predetermined self-steering behavior.
  • the invention thus makes it possible to correct an oversteering or understeering driving behavior and / or to set a slightly oversteering or understeering driving behavior if this is desired. It uses the knowledge that a division of the rolling moment in favor of the front axle, i.e. a division in which a higher rolling moment is supported on the front axle than on the rear axle, leads to understeer of the vehicle, while a division in favor of the rear axle Oversteered the vehicle.
  • the rolling moment support can also be shifted in the direction of the front or rear axle by making adjustable dampers on the front or rear axle harder.
  • the new rolling moment corresponding to the desired self-steering behavior division is determined as a function of a self-steering behavior determined from a comparison of a target and an actual value of a driving state variable.
  • the driving behavior is determined on the basis of a comparison of a target yaw rate with a detected actual yaw rate.
  • the target yaw rate is determined on the basis of a steering angle set by the driver and a longitudinal vehicle speed in a vehicle model. It corresponds to the yaw rate that would result for the vehicle if it followed the driver's specifications in an idealized or desired manner.
  • the comparison between the target yaw rate and the actual yaw rate can be used in particular to determine the self-steering behavior of the vehicle.
  • a neutral, understeering or oversteering driving behavior is determined if the amount of the target yaw rate is the same as, greater than or less than the amount of the actual yaw rate.
  • the rolling moment distribution is set such that the rolling moment support is displaced in the direction of the rear axle. This is done by making the stabilizer and / or the dampers on the rear axle harder and, due to the effect described above, leads to a change in driving behavior in the direction of oversteer.
  • the roll moment support is shifted in the direction of the front axle if the vehicle is oversteered.
  • the target yaw rate and the actual yaw rate are advantageously determined and compared within a control cycle. Based on the elasticity and inertia of the vehicle and individual components of the chassis, the target yaw rate signal is in the phase far ahead of the signal of the actual yaw rate, which reflects the reaction of the vehicle to a driver action. This leaves enough time to carry out stabilizer and / or damper control in a timely manner, even with high signal dynamics, so that the vehicle reaction is influenced.
  • a particular advantage of the method according to the invention is therefore that the vehicle reaction can be adapted in time and effectively to a desired vehicle reaction.
  • the gradients of driving state variables that is to say the changes in the variables over time, are taken into account, which are usually also referred to as accelerations.
  • the vehicle behavior is determined on the basis of a comparison of a target yaw acceleration with an actual yaw acceleration.
  • the target yaw acceleration is in turn determined on the basis of the steering angle gradient set by the driver and the longitudinal vehicle speed or with the aid of a differentiator from two temporally adjacent values of the target yaw rate.
  • the actual yaw acceleration results from the change in the actual yaw rate.
  • the actual yaw rate ie the target and actual yaw accelerations, can then be used to identify a possible impending oversteer or understeer.
  • an expected oversteer or understeer is again avoided by shifting the roll moment support in the direction of the front or rear axle.
  • the method according to the invention into a method for yaw moment control. This could be achieved, for example, by the interaction of the functions of a conventional ESP method with those of the method according to the invention.
  • a brake and / or engine intervention depending on a result of a comparison between the target and actual yaw rate and / or between the target and actual yaw rate. acceleration is made.
  • the brake intervention is preferably carried out on at least one wheel.
  • the interventions are also coordinated with one another in an advantageous embodiment of the method.
  • the method according to the invention can be very advantageously integrated into existing methods for driving dynamics control based on braking and / or engine interventions and in particular ⁇ J- for yaw moment compensation.
  • the corresponding sensor system for recording driving state variables which is present in an ESP system, for example, can also be used.
  • the method according to the invention makes it possible to make a brake intervention for driving dynamics control superfluous by changing the rolling moment distribution at an early stage.
  • the stabilizer, damper, brake and engine interventions are carried out taking into account a critical value of the driving state variable.
  • the critical value of the driving state variable preferably represents a limit value for the driving state variable taking into account the physical feasibility of driving states.
  • control interventions according to the method according to the invention should therefore advantageously be carried out in such a way that the actual value of the driving state variable never exceeds the critical value.
  • the invention also provides a device for regulating the driving dynamics of a vehicle, which includes means for rolling torque support on the front and rear axles of the vehicle and sensors for detecting at least one driving state variable for the vehicle.
  • the device is characterized in that it uses a subtractor to determine a difference between a value of the driving state variable set by a driver and the detected value of the driving state variable, via a controller, to determine a manipulated variable based on the value set by the driver and the recorded value of the driving state variable, via a unit for calculating changes in a wheel load difference on the front and rear axles from the manipulated variable and a recorded rolling moment distribution between the front and rear axles, via an adder for adding the calculated changes in the wheel load differences to current wheel loads and via Interface to a control of the means for rolling torque support depending on the sum of the calculated change in the wheel load differences and the current wheel loads.
  • This device is particularly suitable for carrying out the method according to the invention. It also has the advantage to enable a particularly safe implementation of the method.
  • the unit for calculating the change in wheel load difference completely determines the new rolling moment distribution in order to determine these changes in relation to the detected rolling moment distribution.
  • the construction according to the invention thus also advantageously allows the device to be designed to be “fail-silent”. In the event of a malfunction being detected, the device can be switched off and the rolling moment distribution can be set unaffected by the device or remain unchanged.
  • the means for rolling torque support are designed as stabilizers.
  • the means for rolling torque support are adjustable dampers.
  • the device also preferably includes at least one sensor for detecting the yaw rate.
  • the controller is a PD controller, that is to say a proportional controller with a differential component.
  • PD controller that is to say a proportional controller with a differential component.
  • this also enables the rate of change to consider. In this way, the divergence of the gradients of the desired course of the driving state variable and the actual course of the driving state variable can be recognized and included in the control.
  • the P component (proportional component) of the PD controller takes into account the yaw rate and the D component (differential component) the yaw acceleration.
  • the method according to the invention can advantageously be integrated into an ESP control.
  • the device is therefore also particularly advantageous for use in a yaw moment compensation system (ESP system).
  • ESP system yaw moment compensation system
  • Fig. 3 shows the time course of the vehicle speed and the yaw rate in a double lane change with and without damper support.
  • the invention provides an advantageous yaw rate and yaw acceleration-dependent control of the rolling moment distribution of a vehicle. This is used in particular to support the known electronic stability program (ESP) and can also be carried out in particular in uncritical driving situations in order to improve the driving behavior of the vehicle in any driving situation.
  • ESP electronic stability program
  • the method according to the invention is based on influencing the horizontal dynamics of a vehicle by changing the characteristics of the vertical behavior. This is done by distributing the rolling moment using adjustable stabilizers or adjustable dampers.
  • the stabilizer and / or damper control is not only aimed at roll compensation, but also serves to reduce and possibly prevent braking interventions by the ESP control, especially in the handling and in the limit area of the vehicle.
  • the stabilizer and / or damper control can be advantageously combined with the brake and engine intervention through an ESP control and leads to a safer, more comfortable driving behavior.
  • Braking intervention by a conventional ESP control can be felt by the driver as a vehicle deceleration and is therefore only carried out in a critical driving situation.
  • a stabilizer or damper control if harmonized, remains unnoticed by the driver and can also be used in the uncritical area to influence driving behavior and in particular the vehicle's own steering behavior.
  • the method according to the invention also makes it possible to statically adjust the rolling moment distribution. In this way, the self-steering behavior can be permanently influenced and adapted to a desired self-steering behavior.
  • the self-steering behavior of a vehicle is determined by comparing a target yaw rate ⁇ re with an actual yaw rate ⁇ and is changed using the method according to the invention.
  • the driving behavior can be evaluated on the basis of the lateral acceleration.
  • the target yaw rate ⁇ . ⁇ - is the yaw rate that results from the
  • the steering angle 5 is usually detected with the aid of a steering wheel angle sensor. Since a well-known and mostly solid Transmission ratio between the steering wheel angle and the steering angle ⁇ on the wheel, the steering angle ⁇ can be calculated in a simple manner from the steering wheel angle.
  • the longitudinal vehicle speed v is usually derived from the circumferential wheel speed. With the help of a wheel speed sensor, the angular speed of the wheel is detected and the wheel circumferential speed is calculated on the basis of the known radius of the wheels.
  • the self-steering gradient EG takes into account the self-steering behavior of the vehicle. According to the classic definition of self-steering behavior, a vehicle behaves oversteering, neutral or understeering if the self-steering gradient EG is less than zero, equal to zero or greater than zero.
  • the target yaw rate ⁇ ray indicates the value of the yaw rate that would result for the vehicle if it followed the driver's instructions in an idealized manner. It shows which driving maneuvers the driver intends to initiate.
  • the signal ⁇ re / far lies ahead of the signal of the actual yaw rate ⁇ of the vehicle, since the reaction of the vehicle shows a certain delay due to the elasticity of vehicle elements and the inertia of the vehicle.
  • the signal ⁇ re / can now be used to determine how strongly the vehicle will wobble in the subsequent period.
  • the control strategy according to the invention provides first of all to decide on the basis of the difference between the actual yaw rate ⁇ detected during a control cycle f and the determined target yaw rate ⁇ ⁇ whether the vehicle shows a neutral, over- or understeering driving behavior in this control cycle.
  • the control cycle should roughly include the time period in which a measurable vehicle reaction to a driver action occurs, and it should be far shorter than the time period in which the vehicle reacts completely to a driver action so that the final vehicle reaction can be influenced effectively ,
  • the invention uses the known effect that a change in the roll moment support on an axle results in a change in the wheel load difference and thus a change in the total lateral force on this axle.
  • the driving behavior of a vehicle can be varied by varying the available total lateral forces of the front and rear axles.
  • the wheel load difference on the rear axle will be greater than on the front axle during a rolling operation. Via the degressive lateral force characteristic of the tires, this leads to a reduction in the total lateral force on the axle with the greater wheel load difference, in this case on the rear axle.
  • the drivability of the vehicle is changed so that an "override their ⁇ behavior.
  • the wheel load difference on the axles can also be changed using adjustable dampers.
  • a harder or softer setting of the dampers on one axle leads to a higher or lower wheel load difference on this axle.
  • the driving behavior in the method according to the invention is determined and changed in the following manner on the basis of a comparison of the signals ⁇ and ⁇ r ⁇ -:
  • a tendency of the vehicle to understeer is determined.
  • a new rolling moment distribution is then determined and set, in which the rolling moment support is shifted in the direction of the rear axle. This ensures that the available total lateral force on the Front axle is increased and the rear axle is reduced. This means that the yaw rate ⁇ of the vehicle is increased and thus approximates the driver's specification.
  • Amount of the actual yaw rate ⁇ so if
  • a new rolling moment distribution is then determined and set, in which the rolling moment support is shifted in the direction of the front axle. This ensures that the available total lateral force on the front axle is reduced and increased on the rear axle. This means that the yaw rate ⁇ of the vehicle is reduced and thus approximates the driver's specification.
  • the gradient of the actual yaw rate, that is to say an actual yaw acceleration, and the gradient of the target yaw rate, that is to say a target yaw acceleration are determined as driving state variables which provide information about how the vehicle will behave in the following.
  • a possible impending oversteer or understeer can be determined by comparing the gradients.
  • the comparison is carried out analogously to the comparison between the target yaw rate ⁇ ⁇ and the actual yaw rate ⁇ .
  • a time course of the target yaw rate ⁇ re and the actual yaw rate ⁇ is shown in FIG. 1. Tangents to the curves are also drawn, the gradient of which corresponds to the gradient of the sizes at the points of contact with the curves.
  • a new rolling moment distribution can therefore also be carried out as a function of the difference d / dt (
  • a stabilizer and / or damper control can thus be carried out, which not only loads the control deviation between the target yaw rate ⁇ , ⁇ and the actual yaw rate ⁇ as a criterion for an intervention, but also the course of the yaw rates themselves.
  • FIG. 2 An implementation of the control strategy described above is shown in FIG. 2.
  • the signals of the amounts of the target yaw rate ⁇ ⁇ and the actual yaw rate ⁇ are given to a subtractor 210, which outputs a difference between these two signals as a control variable e, which serves as an input signal of a PD controller 220.
  • the manipulated variable u is influenced not only by a change in the controlled variable e but also by its rate of change.
  • the P component of the PD controller 220 thus takes into account the difference l ⁇ re
  • a rule requirement is determined when the differences exceed a certain threshold.
  • the PD controller 220 calculates the manipulated variable u "on the basis of the control deviation between the actual yaw rate ⁇ and the target yaw rate ⁇ ⁇ and additionally taking into account parameters p which are adaptively adapted to the desired vehicle behavior and whose values are selected as a function of the driving situation , For example, the values of the parameters p can be changed with the longitudinal vehicle speed v and / or the yaw rate ⁇ .
  • the driving characteristics of the vehicle can be changed by adjusting the parameters p. These thus parameterize the specified or desired driving behavior.
  • a parameter is also taken into account by means of a reference yaw rate, which indicates which yaw rate can also be physically implemented, taking into account the installed vehicle self-steering behavior and the existing road surface friction value, without the vehicle losing its driving stability.
  • the control is carried out so that the value of the reference yaw rate is not exceeded by the actual yaw rate ⁇ .
  • the manipulated variable u calculated and output by the PD controller 220 now serves as an input variable for a unit 230 for calculating a new rolling moment distribution.
  • the current roll moment distribution is calculated by the basic stabilizer control unit 260.
  • the basic stabilizer control 260 receives, for example, the lateral acceleration of the vehicle and the vehicle speed v as input variables. With the help of the lateral acceleration, a total rolling moment of the vehicle can be calculated.
  • the counter-roll moment to be applied is calculated from the difference between the total roll moment and the spring roll moment as a function of the roll angle of the vehicle and the lateral acceleration. This counter-roll moment is distributed differently to the front and rear axles, inter alia depending on the speed v. This results in a roll moment distribution that can be converted into wheel load differences using the stabilizer geometry.
  • unit 230 From the difference between the current wheel load distribution and the calculated new wheel load distribution, unit 230 then calculates changes in wheel load differences for the front axle ( ⁇ F VA ) and the rear axle ( ⁇ FHA), which in turn are added by the adders 240 to the current wheel load differences on the front axle ( ⁇ F VA ) and on the rear axle ( ⁇ F j ⁇ ) in order to be able to transmit the new wheel load differences on the front axle ( ⁇ F V A) and on the rear axle ( ⁇ FHA) to the roll stabilizer system 250.
  • the stabilizers are controlled via an interface by the roll stabilizer system 250.
  • the system behaves neutrally in the event of a detected fault or in the event of a failure. For example, in the event of a system failure, no change in wheel load differences ( ⁇ F V A , ⁇ FHA) transmitted to the adders 240, so that there is no faulty control of the stabilizers.
  • the stabilizer and / or damper control is integrated into the customary ESP control, which in critical driving situations uses vehicle-specific brake interventions to adapt the actual vehicle behavior to a desired behavior.
  • ESP systems usually carry out a yaw rate control in critical driving situations and in particular prevent that the value of the yaw rate of the vehicle does not exceed the physically realizable values.
  • the invention extends the setting options of an ESP control by adapting the roll moment distribution, which improves the driving behavior both in critical driving situations and in the non-critical area.
  • the invention thus represents a very advantageous further development of today's ESP systems.
  • the implementation of the stabilizer and / or damper control according to the invention in an ESP system corresponds to an integrated approach. This assumes that each of the individual steering, brake, chassis and drive train systems has a basic function. With regard to horizontal dynamics, this basic function remains limited to pure control, e.g. a speed-dependent steering ratio or lateral acceleration-dependent brake force distribution on left and right wheel brakes.
  • the functions are constantly exchanged with the overall horizontal dynamic controller in the ESP and report their current reserve and dynamics to the ESP.
  • the central horizontal dynamics controller calculates a target vehicle behavior from the driver's specifications and the driving dynamics, and compares this with the actual vehicle behavior currently determined using a uniform sensor system. If the comparison requires a correction yaw moment, it distributes this to the individual actuators, knowing the driving state, the driver's request and the positioning and dynamic reserves.
  • the stabilizer or damper control according to the invention fits very advantageously into this concept.
  • the integration is further supported in an advantageous embodiment in that the stabilizer interface contained in the device for carrying out the method is designed in accordance with a standard used in the context of the integrated approach. This allows rolling moments or a factor representing the current rolling moment support to be exchanged with different systems. If this standard is observed, systems from different manufacturers can also be integrated.
  • the adjustable dampers are also addressed via a standardized interface.
  • the method according to the invention makes it possible to prevent the braking interventions of the ESP. As a result, the vehicle is decelerated less and drives more dynamically and harmoniously.
  • FIG. 3a shows the course over time of the speed v, the yaw rate ⁇ and the yaw rate error ⁇ in the case of a double lane change.
  • the diagram shows the course for a journey in which the roll moment support was carried out using a skyhook control (dashed curve) and for a journey in which the roll moment support was carried out using a yaw rate control using an ESP system (solid curve).
  • the target yaw rate calculated by the ESP system is shown in dotted lines, and the yaw rate error ⁇ indicates the deviation of the measured yaw rate ⁇ from the target yaw rate.
  • the roll moment distribution was set both by the sky hook control and by the yaw rate-dependent control according to the invention using variable dampers.
  • the roll torque support controlled by the ESP shows significantly lower yaw rate errors ⁇ , and the output speed is almost 5% higher.
  • the diagrams show that ESP has to stabilize with stand-alone skyhook control significantly more often by braking than with yaw rate-dependent roll moment support.
  • the diagrams show that a significant improvement in driving behavior and thus also vehicle safety can be achieved with the aid of the method according to the invention.
  • an advantageous driving-state-related control system is thus created, with which rolling torque distributions are calculated on the basis of driver specifications and the sensor-detected vehicle reaction, which noticeably improve the vehicle's following behavior for the driver.
  • An actuator system is used that allows the rolling moments of the vehicle body to be actively distributed between the front and rear axles, e.g. B. by active roll stabilizer systems.
  • active spring and damper systems can also be used to distribute the rolling moment. Both systems enable a static and dynamic roll moment distribution.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Vehicle Body Suspensions (AREA)
  • Regulating Braking Force (AREA)

Abstract

Procédé de régulation de la dynamique de roulement d'un véhicule à moteur, selon lequel une valeur théorique (?ref) de grandeur d'état de roulement, correspondant à une valeur entrée par le conducteur, est comparée à une valeur effective détectée (?) de la grandeur d'état de roulement et selon lequel une répartition du moment de roulis est détectée et modifiée. Ledit procédé est ainsi mis en oeuvre (a) qu'un comportement routier du véhicule est déterminé à l'aide de la comparaison de la valeur théorique (?ref) de la grandeur d'état de roulement avec la valeur effective (?) de la grandeur d'état de roulement, (b) qu'une nouvelle répartition du moment de roulis correspondant à un comportement routier prédéfini est déterminée en fonction du comportement routier déterminé et (c) que la nouvelle répartition du moment de roulis est mise en oeuvre. La présente invention concerne en outre un dispositif de régulation de la dynamique de roulement d'un véhicule à moteur, pourvu de moyens de soutien du moment de roulis situés sur les essieux avant et arrière du véhicule et de capteurs destinés à détecter au moins une grandeur d'état de roulement (?) pour le véhicule, permettant la mise en oeuvre dudit procédé. Ledit dispositif peut être avantageusement utilisé dans un système de compensation du moment d'embardée (ESP).
EP05716973A 2004-03-11 2005-03-09 Procede de regulation de la dynamique de roulement d'un vehicule a moteur, dispositif permettant la mise en oeuvre dudit procede et son utilisation Ceased EP1722991A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102004012318 2004-03-11
DE102004040876A DE102004040876A1 (de) 2004-03-11 2004-08-24 Verfahren zur Fahrdynamikregelung eines Fahrzeugs, Vorrichtung zur Durchführung des Verfahrens und ihre Verwendung
PCT/EP2005/051058 WO2005087521A1 (fr) 2004-03-11 2005-03-09 Procede de regulation de la dynamique de roulement d'un vehicule a moteur, dispositif permettant la mise en oeuvre dudit procede et son utilisation

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EP1722991A1 true EP1722991A1 (fr) 2006-11-22

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US (1) US20080269974A1 (fr)
EP (1) EP1722991A1 (fr)
JP (1) JP2007527820A (fr)
KR (1) KR20060126815A (fr)
CN (1) CN1930012B (fr)
DE (1) DE102004040876A1 (fr)
WO (1) WO2005087521A1 (fr)

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JP2007527820A (ja) 2007-10-04
US20080269974A1 (en) 2008-10-30
CN1930012B (zh) 2010-05-05
WO2005087521A1 (fr) 2005-09-22
KR20060126815A (ko) 2006-12-08
DE102004040876A1 (de) 2005-12-29
CN1930012A (zh) 2007-03-14

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