JPH0672348A - Method for control of dynamic operation characteristic - Google Patents

Abstract

PURPOSE: To ensure characteristic function of redundancy in respect of a sensor by estimating a controlled variable on the basis of the manipulated variable, the action quantity influenced by a vehicle driver and the measured quantity of a vehicle, and using the controlled variable, which has been estimated at the time of controlled variable abnormality or absence, as the proper controlled variable. CONSTITUTION: A reference quantity F and a controlled variable are compared by means of a difference former 4 to form a difference. The formed difference is inputted to a controller 2 and operating signals S are then outputted from the controller 2 to an operation member 1.3 of a vehicle 1. Further, control signals St from a vehicle driver are supplied to another operation member 1.4 of the vehicle 1. On the other hand, control signals R are returned to the difference former 4 from the vehicle 1. For instance, with a reference quantity being a set value of the yawing velocity, comparison is made by the difference former 4 between this reference quantity and the yawing velocity as the controlled variable measured by a sensor 1.1. A secondly measured quantity M is obtained by another sensor 1.2 and a corresponding quantity Rg is estimated by a state estimation device 3.1. A pertinent difference M-Rg is supplied to an error recognition block 3.2 to recognize the anomaly of the sensor 1.1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention sets a reference amount, obtains a control amount by measurement in a vehicle, obtains a difference between the amounts, and uses the difference to influence the control amount. The present invention relates to a driving dynamic characteristic control method for performing adjustment.

[0002]

2. Description of the Related Art A control method according to the general concept of claim 1 is D
E-A1 4030846.5 and prior application P4
121954.6. Here, the steering angle is adjusted using the operating member as follows:
That is, the measured yawing speed ω of the vehicle is adjusted so as to comply with a predetermined set value, for example the set value ω _ref selected according to the Ackermann condition.

[0003]

OBJECTS OF THE INVENTION It is an object of the invention to ensure that a yaw rate or a redundant characteristic function for comparable sensors is ensured without the need for duplicate expensive sensors.

The present invention can be implemented online with a microcomputer. Due to the adaptive additional structure according to claim 6, the method is user (application) oriented.

What is important here is that the sensor failure is detected quickly and the normal controller characteristics are sufficiently maintained after switching.
In addition, the false alarm rate should be small.

[0006]

According to the present invention for solving the above problems,
In the running dynamic characteristic control method of the type described at the beginning, in addition, the control amount is estimated from the operation amount, the influence amount from the driver, and the second appropriate measured amount measured in the vehicle. When the measured control amount is abnormal or missing, the estimated control amount is used as the control amount.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS The invention will first be described generally with reference to the embodiments shown, and then particular embodiments will be described.

In the illustrated configuration example, the reference amount is input to one input side of the difference forming unit 4, and this reference amount is compared with the control amount input to the other input side. The resulting difference is supplied to the controller 2, which outputs an operation signal S to the operation member 1.3 provided in the vehicle 1. In addition to the operation signal S, the driver's control signal St is supplied to another operation device 1.4 of the vehicle 1. The control signal R is determined in the vehicle 1 (measured by the sensor 1.1) and returned to the difference former. The vehicle is stabilized by the following control of the control signal R to the reference amount F-assuming an appropriate amount of the reference amount.

In a special embodiment, the reference amount F is the set value of the yawing speed ω _ref (this is Ackerman).
n) is a setpoint selected according to the conditions)),
This set value is compared in the difference former 4 with the yawing speed ω as a controlled variable measured using the sensor 1.1. The rear axle steering characteristic 1.3 (steering angle δ _v ) is controlled by the difference between the amounts. Depending on the driver,
In the vehicle, the front wheel steering angle δ _v as the operation amount is
Is set via.

A second measured quantity M is additionally determined by means of the sensor 1.2 in the vehicle 1, which second quantity is suitable for estimating the controlled quantity Rg together with the quantities S and St. . This means that in block 2, which creates redundancy,
That is, the state estimator 3.1 is used.

In the state estimator 3.1, the quantity Gg corresponding to the second measured quantity M is additionally determined by estimation. The difference M-Gg is fed to an error identification block 3.2, which identifies whether the sensor 1.1 is dead or faulty.
Depending on the above identification, signals such as
That is, a signal is triggered that switches the control from the measured control amount R to the estimated control amount Rg (this is indicated by switch 5).

In the particular embodiment described above, the lateral acceleration a _y is additionally measured by the sensor 1.2. Quantity S, St, a _y
From the state estimator 3.1, the yaw speed ω _g (estimated control amount Rg) is estimated. The estimator can additionally estimate the lateral velocity Vyg ′ from the said quantity, whereby the estimated lateral acceleration a _yg (which corresponds to Gg) can be derived. The estimation of ω _g and a _yg can be done by using an adaptive equivalent Kalman-filter structure (the structure is described in the prior application German patent application P4121
954.6 as described in the specification).

The difference a _y -a _yg is supplied to the error identification block 3.2 for identifying a malfunction of the sensor 1.1.

The methods of claims 1 and 2 can also be used in the following control method.

Active rear axle / front axle steering active braking force distribution of individual wheels active spring elasticity / damping

[0016]

According to the present invention, it is possible to secure redundancy for an expensive yawing speed or an equivalent sensor.

[Brief description of drawings]

FIG. 1 is a schematic circuit diagram showing an embodiment of the present invention.

[Explanation of symbols]

1 vehicle, 2 controller, 3 redundancy forming part, 4
Difference forming device, 5 switches

 ─────────────────────────────────────────────────── ───Continued from the front page (72) Inventor Gerhard Hase Germany, Ifetsheim Orzinistraße 8

Claims (6)

[Claims] 1. A reference amount is set, a control amount is obtained by measurement in a vehicle, a difference between the amounts is obtained, and an operation member is adjusted to affect the control amount using the difference. In the driving dynamic characteristic control method described above, the operation amount (S) and the influence amount (S) from the driver are additionally added.
t) and a second suitable measured quantity (M) measured in the vehicle
From the above, the control amount (Rg) is estimated, and when the measured control amount (R) is abnormal or missing, the estimated control amount (Rg) is used as the control amount. Dynamic characteristic control method. 2. The quantity (Gg) corresponding to the second measured quantity (M) in addition to the controlled quantity (Rg) is determined by estimation, and the quantity (Gg) and the second measured quantity (M) are obtained. By comparison of
2. The method according to claim 1, wherein a criterion for abnormality or omission of the measured controlled variable (R ') is derived. 3. The reference amount is a predetermined value (ω _ref ) of yawing speed, the control amount is a measured yawing speed (ω), and the operation amount is a steering angle (δ). The method according to claim 1 or 2. 4. The estimated yawing velocity (ω _g ) is estimated using the steering angle (δ) and the second measured quantity lateral acceleration (a _y ). the method of. 5. The method as claimed in claim 4, wherein the lateral velocity (V _y ) is additionally estimated and from this the lateral acceleration (a _y ) required for fault (missing) identification is introduced. 6. The method according to claim 1, wherein the estimation is performed by an adaptive Kalman filter structure.
6. The method according to any one of 1 to 5.