JP6346617B2 - 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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- JP6346617B2 JP6346617B2 JP2015546925A JP2015546925A JP6346617B2 JP 6346617 B2 JP6346617 B2 JP 6346617B2 JP 2015546925 A JP2015546925 A JP 2015546925A JP 2015546925 A JP2015546925 A JP 2015546925A JP 6346617 B2 JP6346617 B2 JP 6346617B2
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- 238000000034 method Methods 0.000 title claims description 19
- 230000000087 stabilizing effect Effects 0.000 title claims description 3
- 238000005096 rolling process Methods 0.000 claims description 5
- 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
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- 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)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
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 (5)
- 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するステップと、
前記牽引車両の実際ヨーレートの振幅が第1閾値又は第2閾値のいずれかを超過したかを判断するステップであって、第2閾値は第1閾値よりも高く設定されているステップと、
前記牽引車両の実際ヨーレートの振幅が第1閾値又は第2閾値のいずれかを超過したときに、ドライバとは無関係に牽引車両のアクチュエータ・システムへの介入を行うステップであって、ドライバとは無関係に牽引車両のアクチュエータ・システムへの介入を行うこととは、牽引車両のアクチュエータ・システムに含まれる操舵アクチュエータ・システムへの操舵介入と、牽引車両のアクチュエータ・システムに含まれるブレーキ・アクチュエータ・システムへのブレーキ介入を含み、(a) 前記牽引車両の実際ヨーレートの振幅が第1閾値を超え第2閾値を超えないときには、牽引車両のアクチュエータ・システムに含まれる操舵アクチュエータ・システムへの操舵介入を行い、(b) 前記牽引車両の実際ヨーレートの振幅が第2閾値を超えたときには、牽引車両のアクチュエータ・システムに含まれるブレーキ・アクチュエータ・システムへのブレーキ介入を行う方法において、
前記牽引車両のアクチュエータ・システムに含まれる操舵アクチュエータ・システムへの操舵介入が、それぞれ前記牽引車両の実際ヨーレート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、
前記牽引車両のアクチュエータ・システムに含まれる操舵アクチュエータ・システムへの操舵介入が、前記牽引車両の実際ヨーレートの方向に操舵を固定することである、方法。 - 請求項1又は2に記載の方法において、
前記牽引車両のアクチュエータ・システムに含まれるブレーキ・アクチュエータ・システムへのブレーキ介入が、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1〜3のいずれか一項に記載の方法において、
前記牽引車両のアクチュエータ・システムに含まれるブレーキ・アクチュエータ・システムへのブレーキ介入が、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1〜4のいずれか一項に記載の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 JP2016502953A (ja) | 2016-02-01 |
JP6346617B2 true JP6346617B2 (ja) | 2018-06-20 |
Family
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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) |
Families Citing this family (14)
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 |
US11084342B2 (en) | 2018-02-27 | 2021-08-10 | 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 |
US11221262B2 (en) | 2018-02-27 | 2022-01-11 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11135882B2 (en) | 2018-02-27 | 2021-10-05 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
WO2019168565A1 (en) | 2018-02-27 | 2019-09-06 | Methode Electronics,Inc. | Towing systems and methods using magnetic field sensing |
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 |
JP7368346B2 (ja) * | 2020-12-23 | 2023-10-24 | トヨタ自動車株式会社 | 自動車 |
US11975759B2 (en) * | 2021-09-28 | 2024-05-07 | Aptiv Technologies Limited | Self-learning-based interpretation of driver's intent for evasive steering |
Family Cites Families (15)
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DE50313413D1 (de) | 2002-11-08 | 2011-02-24 | Continental Teves Ag & Co Ohg | Verfahren und einrichtung zum stabilisieren eines gespanns |
DE102004010296B4 (de) | 2003-06-03 | 2022-08-04 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Dämpfung von Anhänger-Pendelschwingungen |
JP2004359216A (ja) * | 2003-06-03 | 2004-12-24 | Robert Bosch Gmbh | 連結車両の安定化方法および装置 |
DE10342865A1 (de) * | 2003-09-15 | 2005-04-21 | Bayerische Motoren Werke Ag | Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns |
DE102004004151B4 (de) * | 2004-01-28 | 2014-11-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erkennung und Stabilisierung eines schlingernden Anhängers mittels Radkräften |
JP2006111179A (ja) * | 2004-10-15 | 2006-04-27 | Toyota Motor Corp | トーイング用車両 |
DE102005028787B4 (de) | 2004-10-22 | 2018-02-22 | Volkswagen Ag | System zur Gespannstabilisierung |
JP4443547B2 (ja) * | 2006-09-29 | 2010-03-31 | 三菱電機株式会社 | アンダーステア抑制装置 |
JP2007069907A (ja) * | 2006-12-18 | 2007-03-22 | Mitsubishi Fuso Truck & Bus Corp | 連結車両の制動制御装置 |
DE102007008342B4 (de) | 2007-02-20 | 2016-09-01 | Robert Bosch Automotive Steering Gmbh | Verfahren zur Stabilisierung eines Fahrzeugverbundes |
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 |
DE102007061835A1 (de) | 2007-12-20 | 2009-06-25 | Daimler Ag | Stabilisierungsverfahren für ein Fahrzeuggespann |
WO2010113318A1 (ja) * | 2009-04-03 | 2010-10-07 | トヨタ自動車株式会社 | 車両用制御装置 |
CN102252859B (zh) * | 2011-05-31 | 2013-06-05 | 南京信息工程大学 | 汽车列车直线行驶横向稳定性自动辨识系统 |
CN102529922A (zh) * | 2011-12-28 | 2012-07-04 | 天津职业技术师范大学 | 一种半挂汽车列车横向稳定性控制系统 |
-
2012
- 2012-12-12 DE DE102012222862.4A patent/DE102012222862A1/de not_active Withdrawn
-
2013
- 2013-11-28 US US14/651,662 patent/US9493156B2/en active Active
- 2013-11-28 JP JP2015546925A patent/JP6346617B2/ja not_active Expired - Fee Related
- 2013-11-28 WO PCT/EP2013/074934 patent/WO2014090578A1/de active Application Filing
- 2013-11-28 EP EP13798319.3A patent/EP2931584B1/de active Active
- 2013-11-28 CN CN201380065017.9A patent/CN104955713B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US20150314782A1 (en) | 2015-11-05 |
US9493156B2 (en) | 2016-11-15 |
EP2931584A1 (de) | 2015-10-21 |
EP2931584B1 (de) | 2018-01-31 |
WO2014090578A1 (de) | 2014-06-19 |
JP2016502953A (ja) | 2016-02-01 |
CN104955713A (zh) | 2015-09-30 |
CN104955713B (zh) | 2017-06-20 |
DE102012222862A1 (de) | 2014-06-12 |
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