JP2016502953A - 牽引車両とトレーラとからなる連結車を安定させる方法および装置 - Google Patents
牽引車両とトレーラとからなる連結車を安定させる方法および装置 Download PDFInfo
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- JP2016502953A JP2016502953A JP2015546925A JP2015546925A JP2016502953A JP 2016502953 A JP2016502953 A JP 2016502953A JP 2015546925 A JP2015546925 A JP 2015546925A JP 2015546925 A JP2015546925 A JP 2015546925A JP 2016502953 A JP2016502953 A JP 2016502953A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 4
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 description 7
- 238000011105 stabilization Methods 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 238000012144 step-by-step procedure Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
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- 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
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- 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
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- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- 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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
-
- 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
- B60W2520/22—Articulation angle, e.g. between tractor and trailer
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/147—Trailers, e.g. full trailers or caravans
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
牽引車両の横揺れ運動の発生が検出され、
横揺れ運動を特徴づける振動横揺れ量の振幅が第1閾値を超過した後に、ドライバとは無関係に牽引車両の操舵アクチュエータへの操舵介入が行われ、
横揺れ量の振幅が第2閾値を超過した後に、ドライバとは無関係に牽引車両のブレーキアクチュエータへのブレーキ介入が行われ、
第2閾値が第1閾値よりも高く選択されている。
操舵は、一時的に、ヨーレート振動により誘起される操舵トルクとは反対に向けられた方向に固定される。これにより、舵角は、車両のヨー運動に影響されないように保持される。
重畳操舵トルクが操舵奨励としてあらかじめ設定され、ドライバが奨励に従った場合には連結車が安定化される。
Claims (10)
- 横揺れ運動発生時に牽引車両とトレーラとからなる連結車を安定させる方法において、
牽引車両の横揺れ運動の発生を検出し(301)、
横揺れ運動を特徴づける振動横揺れ量の振幅が第1閾値を超過した後に、ドライバとは無関係に牽引車両の操舵アクチュエータへの操舵介入を行い(303)、
横揺れ量の振幅が第2閾値を超過した後に、ドライバとは無関係に牽引車両のブレーキアクチュエータへのブレーキ介入を行い(305)、
第2閾値を第1閾値よりも高く選択する方法。 - 請求項1に記載の方法において、
前記横揺れ量の振幅値が時間的にゆっくりと増大し、連続する2つの振動の振幅差が閾値を超過していない場合にのみ、前記操舵介入を行う方法。 - 請求項1に記載の方法において、
前記ドライバとは無関係の前記操舵介入が、前記横揺れ量の方向に操舵を固定することである方法。 - 請求項1に記載の方法において、
前記ドライバとは無関係の前記操舵介入が、それぞれ前記横揺れ量の現在の方向とは反対に向けられた操舵重畳トルクである方法。 - 請求項1に記載の方法において、
前記横揺れ量が、前記牽引車両の目標ヨーレートと実際ヨーレートとの間の差である方法。 - 請求項1に記載の方法において、
前記横揺れ量が前記牽引車両の実際ヨーレートである方法。 - 請求項1に記載の方法において、
前記ドライバとは無関係の前記ブレーキ介入が、少なくとも1つの車軸の左および右ホイールの対称的な制動である方法。 - 請求項1に記載の方法において、
前記ドライバとは無関係の前記ブレーキ介入が、少なくとも1つの車軸の左および右ホイールの交互の制動であり、前記ブレーキ介入によって生成された振動ヨートルクが振動横揺れ量に対して約180度だけ位相をずらされているように、交互の制動の位相状態を選択する方法。 - 請求項1に記載の方法において、
前記連結車にとって危険な横揺れ状況がまだ生じていない程度に低く前記第1閾値を選択する方法。 - 本発明による方法を実施するように構成された手段を含む装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012222862.4 | 2012-12-12 | ||
DE102012222862.4A DE102012222862A1 (de) | 2012-12-12 | 2012-12-12 | Verfahren und Vorrichtung zur Stabilisierung eines aus einem Zugfahrzeug und einem Anhänger bestehenden Fahrzeuggespanns |
PCT/EP2013/074934 WO2014090578A1 (de) | 2012-12-12 | 2013-11-28 | Verfahren und vorrichtung zur stabilisierung eines aus einem zugfahrzeug und einem anhänger bestehenden fahrzeuggespanns |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016502953A true JP2016502953A (ja) | 2016-02-01 |
JP6346617B2 JP6346617B2 (ja) | 2018-06-20 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2015546925A Expired - Fee Related JP6346617B2 (ja) | 2012-12-12 | 2013-11-28 | 牽引車両とトレーラとからなる連結車を安定させる方法および装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9493156B2 (ja) |
EP (1) | EP2931584B1 (ja) |
JP (1) | JP6346617B2 (ja) |
CN (1) | CN104955713B (ja) |
DE (1) | DE102012222862A1 (ja) |
WO (1) | WO2014090578A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022099984A (ja) * | 2020-12-23 | 2022-07-05 | トヨタ自動車株式会社 | 自動車 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102453327B1 (ko) * | 2016-01-07 | 2022-10-12 | 주식회사 만도 | 조향 제어 장치 |
DE102016011282A1 (de) | 2016-09-20 | 2018-03-22 | Wabco Gmbh | Verfahren zum Durchführen eines Ausweichmanövers mit einem Nutzfahrzeug-Gespann, sowie Notausweichsystem |
EP3379222B1 (en) | 2017-03-22 | 2020-12-30 | Methode Electronics Malta Ltd. | Magnetoelastic based sensor assembly |
CN108422987B (zh) * | 2018-02-08 | 2019-11-05 | 江苏大学 | 一种拖挂式房车制动力自动分配控制装置及其控制方法 |
CN108466610B (zh) * | 2018-02-08 | 2019-12-03 | 江苏大学 | 一种拖挂式房车制动力自动分配的装置及其控制方法 |
US11135882B2 (en) | 2018-02-27 | 2021-10-05 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11221262B2 (en) | 2018-02-27 | 2022-01-11 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11014417B2 (en) | 2018-02-27 | 2021-05-25 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11084342B2 (en) | 2018-02-27 | 2021-08-10 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
DE18907724T1 (de) | 2018-02-27 | 2021-03-25 | Methode Electronics, Inc. | Schleppsysteme und Verfahren mit Verwendung von Magnetfeldmessung |
US11491832B2 (en) | 2018-02-27 | 2022-11-08 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
DE102019209380A1 (de) * | 2019-06-27 | 2020-12-31 | Zf Friedrichshafen Ag | Verfahren und Vorrichtung zum Stabilisieren eines Anhängergespanns sowie Steuergerät |
US11975759B2 (en) * | 2021-09-28 | 2024-05-07 | Aptiv Technologies Limited | Self-learning-based interpretation of driver's intent for evasive steering |
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-
2012
- 2012-12-12 DE DE102012222862.4A patent/DE102012222862A1/de not_active Withdrawn
-
2013
- 2013-11-28 EP EP13798319.3A patent/EP2931584B1/de active Active
- 2013-11-28 WO PCT/EP2013/074934 patent/WO2014090578A1/de active Application Filing
- 2013-11-28 JP JP2015546925A patent/JP6346617B2/ja not_active Expired - Fee Related
- 2013-11-28 US US14/651,662 patent/US9493156B2/en active Active
- 2013-11-28 CN CN201380065017.9A patent/CN104955713B/zh not_active Expired - Fee Related
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JP2022099984A (ja) * | 2020-12-23 | 2022-07-05 | トヨタ自動車株式会社 | 自動車 |
JP7368346B2 (ja) | 2020-12-23 | 2023-10-24 | トヨタ自動車株式会社 | 自動車 |
Also Published As
Publication number | Publication date |
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DE102012222862A1 (de) | 2014-06-12 |
CN104955713A (zh) | 2015-09-30 |
JP6346617B2 (ja) | 2018-06-20 |
EP2931584B1 (de) | 2018-01-31 |
EP2931584A1 (de) | 2015-10-21 |
US20150314782A1 (en) | 2015-11-05 |
CN104955713B (zh) | 2017-06-20 |
WO2014090578A1 (de) | 2014-06-19 |
US9493156B2 (en) | 2016-11-15 |
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