EP2934924A1 - Procédé de détermination combinée de l'angle de roulis momentané d'un véhicule à moteur et de la pente transversale momentanée de la chaussée dans un tronçon de chaussée en forme de courbe parcouru par le véhicule - Google Patents

Procédé de détermination combinée de l'angle de roulis momentané d'un véhicule à moteur et de la pente transversale momentanée de la chaussée dans un tronçon de chaussée en forme de courbe parcouru par le véhicule

Info

Publication number
EP2934924A1
EP2934924A1 EP13785362.8A EP13785362A EP2934924A1 EP 2934924 A1 EP2934924 A1 EP 2934924A1 EP 13785362 A EP13785362 A EP 13785362A EP 2934924 A1 EP2934924 A1 EP 2934924A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
roll angle
current
sensor
vehicle
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Withdrawn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
EP13785362.8A
Other languages
German (de)
English (en)
Inventor
Dieter Ammon
Claus-Michael Hainbuch
Magnus Rau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Publication of EP2934924A1 publication Critical patent/EP2934924A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • 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
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B60G2400/0523—Yaw rate
    • 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
    • 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
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • 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
    • B60G2400/50—Pressure
    • B60G2400/52—Pressure in tyre
    • 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
    • B60G2400/60—Load
    • 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
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • 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
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9123—Active Body Control [ABC]
    • 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
    • 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
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2520/18—Roll

Definitions

  • the invention relates to a method for combined determination of a current roll angle of a motor vehicle and a current road-bank of a curvy road section traveled by the motor vehicle and a device for combined determination of this instantaneous roll angle and this current road-bank.
  • the invention further relates to a motor vehicle with such a device.
  • ABS Active Body Control
  • Suspension systems which also allow the possibility of selective adjustment of pitch and roll angles in addition to a conventional suspension and damping function.
  • a roll is called thereby a rotary motion of a motor vehicle about its longitudinal axis.
  • Such a rolling motion can result when driving through a curved roadway section through the motor vehicle when the motor vehicle tilts outward due to the centrifugal forces occurring at a certain roll angle.
  • the thereby adjusting roll angle depends on a lateral acceleration of the motor vehicle whose center of gravity, the
  • ABS Active Body Control
  • the chassis with suitable actuators, for example in the manner of height-adjustable struts, be provided, which connect the vehicle frame height adjustable each with the wheels of the motor vehicle, so that a certain roll angle of the motor vehicle can be adjusted.
  • a curved roadway section may be inclined outwardly with respect to its curve curvature, for example, for dewatering rainwater striking the road surface or the like. to facilitate.
  • the roadway may also be inclined inwards in the direction of the curve, also in the manner of a so-called curve elevation, in order to make it easier for the motor vehicle to drive on the curved roadway section. This means, however, that in each case the roadway bank of the roadway relative to the horizontal reference plane in the control of a chassis of the
  • Motor vehicle must be considered to set an optimal roll angle of the motor vehicle.
  • DE 10 2010 046 317 A1 describes a method for adjusting the spatial position of a roll axis about which the motor vehicle is rotatable about a predetermined roll angle.
  • a spatial desired position of the position of the roll axis is first determined in a first step and then in a second Step determines a lateral acceleration of the motor vehicle.
  • a desired bank of the motor vehicle and a desired transverse storage of the motor vehicle is determined as a function of the lateral acceleration, so that when setting the desired bank and the desired transverse storage a shift of
  • Roll axis is effected in the desired position.
  • at least one actuator of an active chassis device of the motor vehicle is adjusted accordingly.
  • at least one actuator for influencing the transverse movement of the motor vehicle is adjusted in such a way that the motor vehicle additionally assumes the desired transverse deposit determined in the preceding step.
  • Transverse acceleration can be determined for example with the aid of a camera system mounted on the motor vehicle, which is the curved to be traveled
  • Lane section in the apron of the motor vehicle optically detected and analyzed to determine the expected lateral acceleration.
  • A1 describes a method for determining the roll angle of a motor vehicle with at least one device for determining the yaw rate or a variable correlated therewith and a device for determining the yaw rate
  • the roll angle is determined using the yaw rate or a magnitude correlated therewith and the specific roll stiffness of the vehicle.
  • Wankwinkels a motor vehicle and a current road-bank of a motor vehicle driven on the curved road section indicate. It is also an object of the present invention to provide an apparatus for determining such a current road bank.
  • the invention is based on the general idea when driving on a
  • a horizontal reference plane means a plane perpendicular to a direction vector of the gravitational acceleration; Relative to this reference plane, the roadway section traveled by the motor vehicle can be inclined in the transverse direction.
  • the inventive method can be carried out in a simple manner in a motor vehicle, as determined by the built-in motor vehicle chassis data and lateral dynamics data for a variety of purposes by default and transmitted, for example, to a built-in motor vehicle control unit, the control unit based on these data different
  • Vehicle components in particular the chassis, the motor vehicle controls.
  • the method according to the invention can be carried out in real time in a motor vehicle, in particular in a control unit (ECU) or the like installed in the motor vehicle, so that these data are based on the instantaneous road bank angle determined by the method according to the invention or the instantaneous vehicle roll angle optionally be taken into account in the control of the chassis of the motor vehicle or other vehicle components.
  • ECU control unit
  • the chassis data includes a current tire roll angle of the tires of the motor vehicle and / or a current one
  • Chassis roll angle of the chassis of the motor vehicle can be determined by means of a suitable sensor installed on the spring struts of the chassis. Alternatively, however, it can also be thought that the determination of the chassis roll angle takes place without such a sensor, for example, if by means of the control unit, the struts of the chassis for
  • the set chassis roll angle can also be read directly from the control unit, which controls the struts of the chassis.
  • the tire roll angle of the tires of the motor vehicle which in particular a wheel load change between the left and right tires of the motor vehicle and Depending on a tire pressure-dependent stiffness of the tire and therefore can be determined by means of suitable, built on the tires of the motor vehicle (tire pressure) sensors.
  • the lateral dynamics data comprise a momentary lateral acceleration of the motor vehicle.
  • Transverse acceleration of the motor vehicle can be determined by means of an acceleration sensor installed in the motor vehicle.
  • the method according to the invention may comprise two successive process steps S1 and S2.
  • the invention also relates to an apparatus for combined determination of a current vehicle roll angle of a motor vehicle and a current road bank of a curvilinear road section traveled by the motor vehicle.
  • the device according to the invention comprises a control unit which can be brought into communication with a transverse acceleration sensor, a yaw rate sensor and a speed sensor of the motor vehicle for the transmission of a respective measured instantaneous lateral acceleration or instantaneous speed to the control unit.
  • the control unit according to the invention determines from chassis data and lateral dynamics data, which the instantaneous lateral acceleration or instantaneous speed of the motor vehicle, using the method according to the invention, the instantaneous vehicle roll angle of the motor vehicle and the current road-bank of the curvy road section traveled by the motor vehicle.
  • the invention also relates to a motor vehicle with a previously explained
  • Yaw rate or a current speed of the motor vehicle are in communication.
  • Fig. 1 is a rough schematic flow diagram of the invention
  • Fig. 2 shows a motor vehicle with a device according to the invention for adjusting the
  • Curve slope of a motor vehicle wherein the figure 2a shows a plan view and Figure 2b shows a rear view of the motor vehicle.
  • 1 shows a flowchart of the method according to the invention in a roughly schematic manner, according to which, in a first step S1, an instantaneous roll angle ⁇ ⁇ of the motor vehicle 1 relative to a horizontal reference plane 21 (see FIG. 2b) and in a subsequent step S2 the instantaneous road-surface bank angle ⁇ ⁇ of the curved roadway section 20 currently being traveled by the motor vehicle 1 is determined relative to the reference plane 21.
  • the horizontal reference plane 21 is over the direction vector g of
  • Motor vehicle 1 built lateral acceleration sensor 3 can be determined.
  • ⁇ p A (1 / g) (a y sensor - v x d / dt ⁇ )
  • d / dt ⁇ is the yaw rate of the motor vehicle 1, which can be determined by means of a yaw rate sensor 5.
  • Transverse acceleration a y sensor can be filtered by means of a suitable low-pass filter to filter out unwanted high-frequency interference (for example, due to bumps in the roadway section 20 just traveled).
  • the acceleration sensor 3 in the motor vehicle with respect to a vehicle longitudinal direction L of the motor vehicle as far as possible on the front of the vehicle is arranged (see Fig. 2a).
  • step S2 based on the roll angle ⁇ ⁇ calculated in step S1, the relationship is now determined
  • ⁇ PFB ⁇ PA - w - ⁇ ⁇ calculate the required road bank angle ⁇ p FB .
  • w is a momentary chassis roll angle set in the chassis of the motor vehicle and ⁇ p R is a tire roll angle of the tires 13, 14 of the motor vehicle.
  • ⁇ p R is a tire roll angle of the tires 13, 14 of the motor vehicle.
  • q> R 0.
  • the instantaneous chassis roll angle w can be determined by means of suitable sensors 2.
  • the tire roll angle ⁇ ⁇ can also be determined by means of suitable sensors 4.
  • a height difference Ay
  • This height difference Ay may depend on a different wheel load of the left and right tires 13, 14 of the motor vehicle 1 and a different, tire pressure-dependent stiffness of the left and right tires 13, 14.
  • the sensors 4 can therefore tire pressure sensors for measuring the individual
  • Tire pressure in the tires 13, 14 include.
  • FIG. 2a shows motor vehicle 1 in a plan view
  • FIG. 2b in a rear view.
  • the motor vehicle 1 comprises a control unit 8 and an acceleration sensor 3, a yaw rate sensor 5, and a speed sensor 6, which in each case with the
  • Control unit 8 are in communication.
  • the motor vehicle 10 comprises a chassis device which can be controlled by the control device 8 and which can be designed in the manner of an electro-hydraulically active chassis.
  • the chassis device comprises four actuators 11, 12 designed as height-adjustable struts, wherein each actuator 13, 14 of the motor vehicle 10 is assigned an actuator 11, 12.
  • a certain roll angle ⁇ ⁇ can be adjusted to the motor vehicle 10.
  • an air-spring-based chassis with a closed pressure supply.
  • the air is pumped in a closed circuit of an air reservoir in the air spring and vice versa, which is a very fast retraction and extension of Suspension struts for setting the desired curve inclination in the chassis of the motor vehicle allows.
  • a hydraulically adjustable undercarriage known as "ACTIVE CURVE SYSTEM” can be used, which operates with a belt-driven hydraulic pump and an oil tank in the engine compartment as well as a valve block and active stabilizers Has front and rear axle.
  • ACTIVE CURVE SYSTEM Such a hydraulic suspension device can also be used to set the desired curve inclination in the motor vehicle.
  • Acceleration sensor 3 the current sensor lateral acceleration a y , the
  • Speed sensor 6 the current speed v x and the yaw rate sensor 5 of the motor vehicle 1, the current yaw rate d / dt ⁇ to the control unit 8.
  • the control unit 8 a control unit 9 (ECU) and one with the
  • Control unit 9 in communication connection storage unit 10 include.
  • the control unit 9 and the memory unit 10 may be formed in the manner of a conventional microcontroller, wherein the person skilled in numerous technical implementation possibilities are known.
  • control unit 8 the inventive method is performed using the above-mentioned input parameters (instantaneous speed of the motor vehicle v x , yaw rate d / dt ⁇ , current sensor lateral acceleration a y sensor ).
  • the control unit 8 according to step S1 of
  • Motor vehicle 1 calculated. From the instantaneous vehicle roll angle ⁇ ⁇ , according to step S2, the current road-bank angle (p F E) of the curved roadway section 20 currently being traveled is calculated.
  • the device 7 can have suitable chassis sensors 2, which have the respective instantaneous height X
  • the tire roll angle ⁇ p R can also be determined by means of the (tire pressure) sensors 4.
  • Input parameters an optimal target roll angle w So u to be calculated in the spring struts 11, 12 of the chassis of the motor vehicle 1 to be set when driving on the curved lane section 20 on the occupants of the
  • the calculation of the desired roll angle w So n initially takes place independently of the current roadway cem slope cp FB .
  • the calculation of the desired roll angle w S0 ii can be carried out, for example, by the control unit 9 of the control unit 8.
  • the height-adjustable struts 11, 12 can be controlled by the control unit 8, so that the desired desired roll angle w So n in the chassis of the motor vehicle 1 sets. Since in such a simplified calculation of the desired roll angle w S oii the current road-bank angle cp FB is disregarded, it makes sense, this means of the invention

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de détermination combinée d'un angle de roulis momentané (φΑ) d'un véhicule à moteur et d'une pente transversale momentanée de la chaussée (φFΒ) dans un tronçon de chaussée en forme de courbe (20) parcouru par le véhicule à moteur, selon lequel la pente transversale momentanée de la chaussée (φFΒ) et l'angle de roulis momentané du véhicule sont déterminés à partir de données de châssis et de données de dynamique latérale du véhicule à moteur (1).
EP13785362.8A 2012-12-20 2013-10-31 Procédé de détermination combinée de l'angle de roulis momentané d'un véhicule à moteur et de la pente transversale momentanée de la chaussée dans un tronçon de chaussée en forme de courbe parcouru par le véhicule Withdrawn EP2934924A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012024971A DE102012024971A1 (de) 2012-12-20 2012-12-20 Verfahren zum kombinierten Bestimmen eines momentanen Wankwinkels eines Kraftfahrzeugs und einer momentanen Fahrbahn-Querneigung eines von dem Kraftfahrzeug befahrenen kurvenförmigen Fahrbahnabschnitts
PCT/EP2013/003286 WO2014094933A1 (fr) 2012-12-20 2013-10-31 Procédé de détermination combinée de l'angle de roulis momentané d'un véhicule à moteur et de la pente transversale momentanée de la chaussée dans un tronçon de chaussée en forme de courbe parcouru par le véhicule

Publications (1)

Publication Number Publication Date
EP2934924A1 true EP2934924A1 (fr) 2015-10-28

Family

ID=48607979

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13785362.8A Withdrawn EP2934924A1 (fr) 2012-12-20 2013-10-31 Procédé de détermination combinée de l'angle de roulis momentané d'un véhicule à moteur et de la pente transversale momentanée de la chaussée dans un tronçon de chaussée en forme de courbe parcouru par le véhicule

Country Status (5)

Country Link
US (1) US9849886B2 (fr)
EP (1) EP2934924A1 (fr)
CN (1) CN104853941A (fr)
DE (1) DE102012024971A1 (fr)
WO (1) WO2014094933A1 (fr)

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Title
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DE102012024971A1 (de) 2013-07-04
CN104853941A (zh) 2015-08-19
US20160001783A1 (en) 2016-01-07
WO2014094933A1 (fr) 2014-06-26
US9849886B2 (en) 2017-12-26

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