FR2856650A1 - Procede pour coordonner un systeme de regulation de dynamique de mouvement d'un vehicule a un systeme de reglage actif de force normale - Google Patents

Procede pour coordonner un systeme de regulation de dynamique de mouvement d'un vehicule a un systeme de reglage actif de force normale

Info

Publication number
FR2856650A1
FR2856650A1 FR0406907A FR0406907A FR2856650A1 FR 2856650 A1 FR2856650 A1 FR 2856650A1 FR 0406907 A FR0406907 A FR 0406907A FR 0406907 A FR0406907 A FR 0406907A FR 2856650 A1 FR2856650 A1 FR 2856650A1
Authority
FR
France
Prior art keywords
normal force
control system
coordinating
dynamic control
vehicle motion
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.)
Granted
Application number
FR0406907A
Other languages
English (en)
Other versions
FR2856650B1 (fr
Inventor
Michael Knoop
Martin Kieren
Andreas Schumann
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of FR2856650A1 publication Critical patent/FR2856650A1/fr
Application granted granted Critical
Publication of FR2856650B1 publication Critical patent/FR2856650B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—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
    • 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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60G2400/51—Pressure in suspension unit
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/016—Yawing condition
    • 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
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/214—Traction, slip, skid or slide control by varying the load distribution
    • 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
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
    • 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
    • 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
    • B60G2800/92—ABS - Brake Control
    • 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
    • B60G2800/93—Skid or slide control [ASR]
    • 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
    • B60G2800/94—Electronic Stability Program (ESP, i.e. ABS+ASC+EMS)
    • 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
    • B60G2800/95—Automatic Traction or Slip Control [ATC]
    • 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
    • B60G2800/96—ASC - Assisted or power Steering control
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/06—Active Suspension System

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Système de régulation de dynamique de mouvement d'un véhicule (1, 2, 4, 6) équipé d'un système de réglage actif de force normale (2, 5, 8) permettant de régler la force normale (FN) agissant sur une roue.Pour la coordination du système de régulation de dynamique de mouvement (1, 3, 4, 6) et du système de réglage actif de force normale (2, 3, 8), l'appareil de commande (1) du système (1, 3, 4, 6) reçoit une information concernant une modification de la force normale (ΔFN) qui peut être prise en compte par la régulation de dynamique de mouvement.
FR0406907A 2003-06-27 2004-06-24 Procede pour coordonner un systeme de regulation de dynamique de mouvement d'un vehicule a un systeme de reglage actif de force normale Expired - Fee Related FR2856650B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE10328979.8A DE10328979B4 (de) 2003-06-27 2003-06-27 Verfahren zur Koordination eines Fahrdynamikregelungssystems mit einem aktiven Normalkraftverstellsystem

Publications (2)

Publication Number Publication Date
FR2856650A1 true FR2856650A1 (fr) 2004-12-31
FR2856650B1 FR2856650B1 (fr) 2008-02-01

Family

ID=33515093

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0406907A Expired - Fee Related FR2856650B1 (fr) 2003-06-27 2004-06-24 Procede pour coordonner un systeme de regulation de dynamique de mouvement d'un vehicule a un systeme de reglage actif de force normale

Country Status (4)

Country Link
US (1) US7308351B2 (fr)
JP (1) JP2005014901A (fr)
DE (1) DE10328979B4 (fr)
FR (1) FR2856650B1 (fr)

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FR2933940A1 (fr) * 2008-07-17 2010-01-22 Renault Sas Amelioration de la motricite sur adherence asymetrique d'un vehicule equipe de barres anti-roulis actives
FR2936203A3 (fr) * 2008-09-25 2010-03-26 Renault Sas Procede de regulation d'un systeme de freinage d'un vehicule automobile en virage et dispositif correspondant

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DE102004006696A1 (de) * 2003-10-24 2005-06-02 Robert Bosch Gmbh An den Beladungszustand eines Fahrzeugs angepasstes Fahrdynamikreglungssystem
DE10355794A1 (de) * 2003-11-28 2005-06-16 Robert Bosch Gmbh Koordination eines Fahrzeugstabilisierungssystems mit einem externen Fahrdynamikregelungssystem
JP4549738B2 (ja) * 2004-05-27 2010-09-22 株式会社日立製作所 車両の制御システム及び制御システム並びに制御方法
KR101277374B1 (ko) 2005-01-24 2013-06-20 콘티넨탈 테베스 아게 운트 코. 오하게 차량의 주행 역학 조절을 위한 장치 및 방법
DE102005004523A1 (de) * 2005-01-31 2006-08-10 Zf Friedrichshafen Ag Verfahren zum Bestimmen einer Steuervorgabe einer von einer Steuervorrichtung ansteuerbaren aktiven Lenkeinrichtung eines Fahrzeugs
DE102005004894A1 (de) * 2005-02-03 2006-08-17 Robert Bosch Gmbh Auslöseverfahren zur Aktivierung einer Lateralgeschwindigkeitsschätzung für Insassenschutzvorrichtungen
DE102005041745A1 (de) * 2005-09-02 2007-03-08 Bayerische Motoren Werke Ag Fahrdynamik-Regelsystem für ein Kraftfahrzeug mit einem System zur beliebigen Veränderung der Antriebsmomentverteilung zwischen den beiden angetriebenen Rädern einer Achse
DE102007000995A1 (de) * 2007-11-28 2009-06-04 Zf Lenksysteme Gmbh Verfahren zum Betrieb einer Überlagerungslenkung für ein Kraftfahrzeug
DE102008040051A1 (de) * 2008-07-01 2010-01-07 Robert Bosch Gmbh Verfahren zur Beeinflussung der Wankachse eines Kraftfahrzeugs
DE102010003951A1 (de) * 2010-04-14 2011-10-20 Robert Bosch Gmbh Verfahren zum Stabilisieren eines Zweirads bei seitlich rutschendem Hinterrad
JP5880927B2 (ja) * 2011-10-06 2016-03-09 株式会社ジェイテクト 車両用姿勢制御装置
US10300760B1 (en) 2015-03-18 2019-05-28 Apple Inc. Fully-actuated suspension system
DE102016010170A1 (de) * 2016-08-17 2018-02-22 Daniel Weiss Verfahren zur Erhöhung der Bremswirkung bei einem vorzugsweise mit einem ABS ausgestatteten Fahrzeug
US10814690B1 (en) 2017-04-18 2020-10-27 Apple Inc. Active suspension system with energy storage device
WO2018208510A1 (fr) 2017-05-08 2018-11-15 Segame Technologies Llc Système de suspension active
US10899340B1 (en) 2017-06-21 2021-01-26 Apple Inc. Vehicle with automated subsystems
US11173766B1 (en) 2017-09-07 2021-11-16 Apple Inc. Suspension system with locking structure
US10906370B1 (en) 2017-09-15 2021-02-02 Apple Inc. Active suspension system
US11124035B1 (en) 2017-09-25 2021-09-21 Apple Inc. Multi-stage active suspension actuator
US10960723B1 (en) 2017-09-26 2021-03-30 Apple Inc. Wheel-mounted suspension actuators
US11285773B1 (en) 2018-09-12 2022-03-29 Apple Inc. Control system
US11634167B1 (en) 2018-09-14 2023-04-25 Apple Inc. Transmitting axial and rotational movement to a hub
US11345209B1 (en) 2019-06-03 2022-05-31 Apple Inc. Suspension systems
US11938922B1 (en) 2019-09-23 2024-03-26 Apple Inc. Motion control system
US11179991B1 (en) 2019-09-23 2021-11-23 Apple Inc. Suspension systems
US11707961B1 (en) 2020-04-28 2023-07-25 Apple Inc. Actuator with reinforcing structure for torsion resistance
US11828339B1 (en) 2020-07-07 2023-11-28 Apple Inc. Vibration control system
GB2601350B (en) * 2020-11-27 2023-10-04 Jaguar Land Rover Ltd Traction-dependent variation of wheel-to-surface normal force
CN112440858B (zh) * 2020-11-30 2022-06-17 中国人民解放军总医院第三医学中心 一种野外车厢扩展调节机构及使用方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2933940A1 (fr) * 2008-07-17 2010-01-22 Renault Sas Amelioration de la motricite sur adherence asymetrique d'un vehicule equipe de barres anti-roulis actives
FR2936203A3 (fr) * 2008-09-25 2010-03-26 Renault Sas Procede de regulation d'un systeme de freinage d'un vehicule automobile en virage et dispositif correspondant

Also Published As

Publication number Publication date
US7308351B2 (en) 2007-12-11
JP2005014901A (ja) 2005-01-20
FR2856650B1 (fr) 2008-02-01
US20040267428A1 (en) 2004-12-30
DE10328979A1 (de) 2005-01-13
DE10328979B4 (de) 2021-07-22

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Effective date: 20150227