JP5287131B2 - トレーラ牽引車両の制御方法および車両の揺動検出方法 - Google Patents
トレーラ牽引車両の制御方法および車両の揺動検出方法 Download PDFInfo
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- JP5287131B2 JP5287131B2 JP2008268210A JP2008268210A JP5287131B2 JP 5287131 B2 JP5287131 B2 JP 5287131B2 JP 2008268210 A JP2008268210 A JP 2008268210A JP 2008268210 A JP2008268210 A JP 2008268210A JP 5287131 B2 JP5287131 B2 JP 5287131B2
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- vehicle
- swing
- yaw rate
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- trailer
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- 238000000034 method Methods 0.000 title claims description 40
- 238000001514 detection method Methods 0.000 title claims description 37
- 230000009467 reduction Effects 0.000 claims description 47
- 230000007423 decrease Effects 0.000 claims description 5
- 230000000994 depressogenic effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 29
- 230000001133 acceleration Effects 0.000 description 19
- 230000010355 oscillation Effects 0.000 description 12
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000011946 reduction process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
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
- 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
- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
-
- 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
- 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
- B60T2230/06—Tractor-trailer swaying
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/203—Presence of trailer
- B60W2530/207—Towing force
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (6)
- 車両の車両速度、車両ヨーレートおよび車両操舵角を示す信号を発生させて前記各信号をフィルター処理し、一定時間における当該フィルター処理された各信号の振動数と振幅値に基づいて前記車両の揺動方向を判定し、前記車両速度が一定速度よりも高いか否かを判定し、前記車両操舵角が前記判定した揺動方向と反対か否かを判定し、前記フィルター処理された各信号の値、および前記フィルター処理された各信号の前記値の偏差が、閾値よりも大きいか否かを判定し、前記車両操舵角が前記判定した揺動方向に対し反対であり、かつ、前記各信号の値および前記値の偏差が、閾値よりも大きいとの判定に基づいて、牽引しているトレーラによる揺動力が前記車両に作用しているか否かを判定し、
前記車両に前記揺動力が作用している場合に、前記車両のエンジントルクを減少するとともに、前記車両のそれぞれの車輪に独立した制動力を供給することによって、前記車両および/または前記トレーラの揺動を低減させるトレーラ牽引車両の制御方法。 - 前記車両速度が一定の車両速度よりも低い場合、前記車両ヨーレートが一定のヨーレートよりも低い場合、前記車両ヨーレートの前記偏差が一定の車両ヨーレート偏差よりも低い場合、前記車両操舵角が一定の操舵角よりも大きい場合、前記車両のブレーキペダルが一定の制動力より大きい制動力を発生するのに十分な量で踏込まれた場合、の少なくともいずれか1つの場合において前記エンジントルクの減少および前記独立した制動力の供給を停止することを特徴とする前記請求項1に記載のトレーラ牽引車両の制御方法。
- 前記揺動力が前記車両に作用していないとされた場合に、前記エンジントルクの減少および前記独立した制動力の供給を停止することを特徴とする前記請求項1に記載のトレーラ牽引車両の制御方法。
- 前記閾値は調整可能であることを特徴とする前記請求項1に記載のトレーラ牽引車両の制御方法。
- 車両のヨーレートを検出し、
前記検出されたヨーレートの振動幅を検出し、
前記検出されたヨーレートを第1閾値と比較し、
前記検出された振動幅を第2閾値と比較し、
前記車両の運転者によるステアリング入力を判定し、
前記検出されたヨーレートが前記第1閾値よりも大きいか否か、前記振動幅が前記第2閾値よりも大きいか否か、前記運転者による前記ステアリング入力が一方の方向であり、かつ直前の揺動方向が前記一方の方向であるか否かに基づいて前記車両が他方の方向に揺動しているか否かを判定するとともに、前記車両が他方の方向に揺動されているとの判定に基づいて前記判定された他方の方向への揺動を低減する揺動低減制御を実行するか否かを判定する車両の揺動検出方法。 - 前記車両の車両速度を許容車両速度と比較し、当該車両速度が前記許容車両速度よりも低い場合には、車両が揺動していると判定されても、前記揺動低減制御の実行が必要ないと判定することを特徴とする前記請求項5に記載の車両の揺動検出方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/875,142 US7917274B2 (en) | 2007-10-19 | 2007-10-19 | Method and apparatus for vehicle sway detection and reduction |
US11/875,142 | 2007-10-19 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009101994A JP2009101994A (ja) | 2009-05-14 |
JP5287131B2 true JP5287131B2 (ja) | 2013-09-11 |
Family
ID=40459109
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008268210A Active JP5287131B2 (ja) | 2007-10-19 | 2008-10-17 | トレーラ牽引車両の制御方法および車両の揺動検出方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7917274B2 (ja) |
JP (1) | JP5287131B2 (ja) |
DE (1) | DE102008042914B4 (ja) |
WO (1) | WO2009051740A1 (ja) |
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JP5123584B2 (ja) * | 2007-06-29 | 2013-01-23 | 本田技研工業株式会社 | 連結車両の運動安定化装置 |
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US8838353B2 (en) * | 2009-07-24 | 2014-09-16 | Robert Bosch Gmbh | Trailer sway mitigation using measured distance between a trailer and a tow vehicle |
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JP5432312B2 (ja) * | 2012-03-30 | 2014-03-05 | 日信工業株式会社 | 連結車両の運動安定化装置 |
JP5653956B2 (ja) * | 2012-03-30 | 2015-01-14 | 日信工業株式会社 | 連結車両の運動安定化装置 |
GB2522105B (en) * | 2012-09-06 | 2016-09-14 | Jaguar Land Rover Ltd | Method and system for preventing instability in a vehicle-trailer combination |
JP5704147B2 (ja) * | 2012-10-25 | 2015-04-22 | 株式会社デンソー | 減速制御装置 |
DE102014201670A1 (de) | 2013-03-07 | 2014-09-11 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201127B4 (de) | 2013-03-07 | 2022-02-03 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201668B4 (de) | 2013-03-07 | 2021-09-02 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201630B4 (de) | 2013-03-07 | 2021-09-02 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
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US9026311B1 (en) * | 2013-03-13 | 2015-05-05 | Tuson Rv Brakes, Llc | Trailer sway detection and method for reducing trailer sway utilizing trailer brakes |
DE102014217246B3 (de) | 2014-08-29 | 2015-12-24 | Ford Global Technologies, Llc | Stabilisierungsanordnung für ein Neigefahrwerk eines Fahrzeugs |
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-
2007
- 2007-10-19 US US11/875,142 patent/US7917274B2/en not_active Expired - Fee Related
-
2008
- 2008-10-16 WO PCT/US2008/011793 patent/WO2009051740A1/en active Application Filing
- 2008-10-16 DE DE102008042914.7A patent/DE102008042914B4/de active Active
- 2008-10-17 JP JP2008268210A patent/JP5287131B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
US20090105906A1 (en) | 2009-04-23 |
WO2009051740A1 (en) | 2009-04-23 |
DE102008042914B4 (de) | 2024-01-25 |
JP2009101994A (ja) | 2009-05-14 |
DE102008042914A1 (de) | 2009-04-23 |
US7917274B2 (en) | 2011-03-29 |
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