FR2694808B1 - Method for determination of characteristic quantities of the operational behavior of a vehicle. - Google Patents

Method for determination of characteristic quantities of the operational behavior of a vehicle.

Info

Publication number
FR2694808B1
FR2694808B1 FR9309863A FR9309863A FR2694808B1 FR 2694808 B1 FR2694808 B1 FR 2694808B1 FR 9309863 A FR9309863 A FR 9309863A FR 9309863 A FR9309863 A FR 9309863A FR 2694808 B1 FR2694808 B1 FR 2694808B1
Authority
FR
France
Prior art keywords
determination
vehicle
method
characteristic quantities
operational behavior
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.)
Expired - Fee Related
Application number
FR9309863A
Other languages
French (fr)
Other versions
FR2694808A1 (en
Inventor
Suissa Avshalom
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.)
Daimler Benz AG
Original Assignee
Daimler Benz 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
Priority to DE19924226749 priority Critical patent/DE4226749C2/en
Application filed by Daimler Benz AG filed Critical Daimler Benz AG
Publication of FR2694808A1 publication Critical patent/FR2694808A1/en
Application granted granted Critical
Publication of FR2694808B1 publication Critical patent/FR2694808B1/en
Anticipated expiration legal-status Critical
Application status is Expired - Fee Related legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/172Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/06Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T2230/00Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02Side slip angle, attitude angle, floating angle, drift angle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T2270/00Further aspects of brake control systems not otherwise provided for
    • B60T2270/30ESP control system
    • B60T2270/313ESP control system with less than three sensors (yaw rate, steering angle, lateral acceleration)
FR9309863A 1992-08-13 1993-08-11 Method for determination of characteristic quantities of the operational behavior of a vehicle. Expired - Fee Related FR2694808B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19924226749 DE4226749C2 (en) 1992-08-13 1992-08-13 A method for determining the driving behavior characterizing sizes

Publications (2)

Publication Number Publication Date
FR2694808A1 FR2694808A1 (en) 1994-02-18
FR2694808B1 true FR2694808B1 (en) 1996-02-23

Family

ID=6465434

Family Applications (1)

Application Number Title Priority Date Filing Date
FR9309863A Expired - Fee Related FR2694808B1 (en) 1992-08-13 1993-08-11 Method for determination of characteristic quantities of the operational behavior of a vehicle.

Country Status (5)

Country Link
DE (1) DE4226749C2 (en)
FR (1) FR2694808B1 (en)
GB (1) GB2269571B (en)
IT (1) IT1261511B (en)
SE (1) SE513553C2 (en)

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DE4325413C2 (en) * 1993-07-29 1995-05-18 Daimler Benz Ag Method for determining the driving behavior characterizing sizes
JP3022167B2 (en) * 1994-06-20 2000-03-15 トヨタ自動車株式会社 Motion state quantity estimating method for a vehicle
DE4430458A1 (en) * 1994-08-27 1996-02-29 Teves Gmbh Alfred Method for determining the transverse acceleration of a vehicle
DE4434480A1 (en) * 1994-09-27 1996-03-28 Bayerische Motoren Werke Ag Method for determining the speed of a wheel in motor vehicles
DE19515059A1 (en) * 1994-11-25 1996-05-30 Teves Gmbh Alfred Vehicle ride stability regulator with limited reference yaw rate
KR0157738B1 (en) * 1995-02-10 1999-03-30 김은영 Method for measuring automobile motion resistance using distance-time inertia travelling test
DE19518700A1 (en) * 1995-05-22 1996-11-28 Bayerische Motoren Werke Ag Comfort evaluation device for motor vehicles with means for detecting and evaluating the longitudinal acceleration
DE19529539A1 (en) * 1995-08-11 1997-02-13 Man Nutzfahrzeuge Ag Method for IN-determination of dynamic driving safety reserves of commercial vehicles
JP3008833B2 (en) * 1995-10-25 2000-02-14 トヨタ自動車株式会社 The body of the side-slip velocity estimation device
DE19602994A1 (en) * 1996-01-27 1997-07-31 Teves Gmbh Alfred A method of determining quantities describing the driving behavior of a vehicle
DE19607050A1 (en) * 1996-02-03 1997-08-07 Teves Gmbh Alfred A method of determining quantities describing the driving behavior of a vehicle
EP0874750B1 (en) * 1996-02-03 2002-05-08 Continental Teves AG & Co. oHG Method of determining variables which describe a vehicle's driving characteristics
DE19607429B4 (en) * 1996-02-28 2004-02-19 Daimlerchrysler Ag Fault tolerant control device for a physical system, in particular vehicle dynamics control system for a motor vehicle
US5857160A (en) * 1996-05-23 1999-01-05 General Motors Corporation Sensor-responsive control method and apparatus
US5895433A (en) * 1996-05-23 1999-04-20 General Motors Corporation Vehicle chassis system control method and apparatus
US5667286A (en) * 1996-05-29 1997-09-16 General Motors Corporation Brake control system
US6325469B1 (en) 1996-09-06 2001-12-04 General Motors Corporation Brake control system
US6212460B1 (en) 1996-09-06 2001-04-03 General Motors Corporation Brake control system
US5720533A (en) * 1996-10-15 1998-02-24 General Motors Corporation Brake control system
US5746486A (en) * 1996-10-16 1998-05-05 General Motors Corporation Brake control system
US5941919A (en) * 1996-10-16 1999-08-24 General Motors Corporation Chassis control system
US5686662A (en) * 1996-10-16 1997-11-11 General Motors Corporation Brake control system
DE19650691C2 (en) * 1996-12-07 1998-10-29 Deutsch Zentr Luft & Raumfahrt A method for steering support of a driver of a road vehicle
US5948030A (en) * 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
US6547343B1 (en) 1997-09-08 2003-04-15 General Motors Corporation Brake system control
US6035251A (en) * 1997-11-10 2000-03-07 General Motors Corporation Brake system control method employing yaw rate and ship angle control
DE19817686A1 (en) * 1998-04-21 1999-10-28 Wabco Gmbh Method for determining a comparison value
DE19818860C2 (en) * 1998-04-28 2001-04-19 Daimler Chrysler Ag Method and device for the detection and localization of sensor errors in motor vehicles
US6205391B1 (en) 1998-05-18 2001-03-20 General Motors Corporation Vehicle yaw control based on yaw rate estimate
US6112147A (en) * 1998-08-17 2000-08-29 General Motors Corporation Vehicle yaw rate control with bank angle compensation
US6125319A (en) * 1998-08-17 2000-09-26 General Motors Corporation Brake system control method responsive to measured vehicle acceleration
US6079800A (en) * 1998-08-20 2000-06-27 General Motors Corporation Active brake control with front-to-rear proportioning
US6169951B1 (en) 1998-08-21 2001-01-02 General Motors Corporation Active brake control having yaw rate estimation
US6056371A (en) * 1998-08-24 2000-05-02 General Motors Corporation Feed-forward active brake control
US6175790B1 (en) 1998-08-24 2001-01-16 General Motors Corporation Vehicle yaw rate control with yaw rate command limiting
US5931887A (en) * 1998-09-24 1999-08-03 General Motors Corporation Brake control method based on a linear transfer function reference model
US6161905A (en) * 1998-11-19 2000-12-19 General Motors Corporation Active brake control including estimation of yaw rate and slip angle
US6195606B1 (en) 1998-12-07 2001-02-27 General Motors Corporation Vehicle active brake control with bank angle compensation
DE10002685A1 (en) * 2000-01-22 2001-07-26 Wabco Gmbh & Co Ohg A method for detection of faulty installation of a vehicle in Sensiermiteln
DE10003739C2 (en) * 2000-01-28 2002-12-05 Daimler Chrysler Ag Method and system for identification of system parameters in vehicles
DE10047745A1 (en) * 2000-09-27 2002-04-11 Bayerische Motoren Werke Ag A method of signal filtering derivative
US6618651B1 (en) * 2002-02-25 2003-09-09 Visteon Global Technologies, Inc. Estimating vehicle velocities using linear-parameter-varying and gain varying scheduling theories
DE10391325D2 (en) * 2002-03-13 2005-02-10 Daimler Chrysler Ag Method and apparatus for detecting the driving behavior of a vehicle variables characterizing
DE102004053236B4 (en) * 2004-11-04 2006-10-19 Daimlerchrysler Ag Method for determining a longitudinal acceleration of a motor vehicle
EP1743819B1 (en) * 2005-07-12 2009-09-16 Ford Global Technologies, LLC, A subsidary of Ford Motor Company Method and device to calculate the yaw and roll rates in a vehicle
FR2899189B1 (en) * 2006-03-31 2008-12-05 Peugeot Citroen Automobiles Sa Vehicle stabilizing device
DE102007022595A1 (en) * 2007-05-14 2008-11-27 Robert Bosch Gmbh Driving dynamics controller with reduced sensor
EP2042397A1 (en) * 2007-09-25 2009-04-01 Peugeot Citroen Automobiles SA Vehicle stabilisation device
DE102016220388A1 (en) * 2016-10-18 2018-04-19 Audi Ag A method for calculating the lateral velocity of a vehicle

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DE3667767D1 (en) * 1985-02-06 1990-02-01 Toyota Motor Co Ltd Active vehicle-aufhaengungssystem with built-in accelerometers.
JPH06104455B2 (en) * 1985-03-15 1994-12-21 日産自動車株式会社 Vehicle motion state estimation apparatus
JPH0547428B2 (en) * 1985-12-09 1993-07-16 Nissan Motor
JPH0725320B2 (en) * 1986-10-13 1995-03-22 日産自動車株式会社 The actual steering angle control apparatus for a vehicle
DE3912045A1 (en) * 1989-04-12 1990-10-25 Bayerische Motoren Werke Ag Method of controlling a transverse dynamic state function of a motor vehicle
DE4030653A1 (en) * 1990-09-28 1992-04-02 Bosch Gmbh Robert A method for determining the slip angle and / or the braked vehicle seitenfuehrungskraefte a
DE4031304A1 (en) * 1990-10-04 1992-04-09 Bosch Gmbh Robert Model supported estimation of float angle - using vehicle speed from ABS system, steering angle sensor to derive transverse speed and hence float angle
DE4200061C2 (en) * 1992-01-03 2001-09-13 Bosch Gmbh Robert Method for determining the vehicle transverse velocity and / or the float angle

Also Published As

Publication number Publication date
GB2269571A (en) 1994-02-16
SE9302610L (en) 1994-02-14
GB9314918D0 (en) 1993-09-01
IT1261511B (en) 1996-05-23
DE4226749A1 (en) 1994-02-17
SE513553C2 (en) 2000-10-02
DE4226749C2 (en) 1996-02-08
SE9302610D0 (en) 1993-08-11
ITRM930544A1 (en) 1994-02-14
ITRM930544D0 (en) 1993-08-09
FR2694808A1 (en) 1994-02-18
GB2269571B (en) 1995-11-08

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Legal Events

Date Code Title Description
ST Notification of lapse

Effective date: 20070430