KR100726907B1 - 차량의 불안정한 주행 상태를 측정하기 위한 방법 및 장치 - Google Patents
차량의 불안정한 주행 상태를 측정하기 위한 방법 및 장치 Download PDFInfo
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- KR100726907B1 KR100726907B1 KR1020000072663A KR20000072663A KR100726907B1 KR 100726907 B1 KR100726907 B1 KR 100726907B1 KR 1020000072663 A KR1020000072663 A KR 1020000072663A KR 20000072663 A KR20000072663 A KR 20000072663A KR 100726907 B1 KR100726907 B1 KR 100726907B1
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- South Korea
- Prior art keywords
- vehicle
- lateral acceleration
- calculated
- yaw rate
- daq
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- 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
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60G17/018—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 use of a specific signal treatment or control method
- B60G17/0185—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 use of a specific signal treatment or control method for failure detection
-
- 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
- B60G17/019—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 type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- 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
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/04—Means for informing, instructing or displaying
- B60G2600/044—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/08—Failure or malfunction detecting means
-
- 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
- B60G2800/24—Steering, cornering
-
- 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
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/704—Estimating or calculating vehicle parameters or state variables predicting unorthodox driving conditions for safe or optimal driving
-
- 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
- B60G2800/912—Attitude Control; levelling 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Transmission Device (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Traffic Control Systems (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims (10)
- 코너링 시에 측정 장치(12)를 이용하여 횡방향 가속도(aQM) 또는 요잉율이 측정되고, 속도계(15)를 이용하여 차량(K)의 주행 속도(Vx)가 측정되는 차량(K)의 불안정한 주행 상태를 측정하기 위한 방법에 있어서,또한 조향 각도(WLR)가 측정되고, 조향 각도(WLR)와 주행 속도(Vx)로부터 횡방향 가속도(aQB) 또는 요잉율에 대한 값이 계산되고, 측정된 횡방향 가속도(aQB)와 계산된 횡방향 가속도(aQM) 또는 측정된 요잉률과 계산된 요잉율로부터 차분(daQ)이 형성되며, 상기 차분(daQ)으로부터 평가 계수(fdaQ)가 형성되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 삭제
- 제1항에 있어서, 평가 계수(fdaQ)가 0 에서 1 까지의 범위에 대해 가중되어 산정되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 제1항 또는 제3항에 있어서, 평가 계수(fdaQ)가 1 과 0 사이의 전환 범위에 있어서 램프의 형태로 형성되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 제1항 또는 제3항에 있어서, 평가 계수(fdaQ)가 시각적으로 또는 음향으로 출력 가능한 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 제1항 또는 제3항에 있어서, 평가 계수(fdaQ)가 전자 제어 유닛(14)으로, 바람직하게는 자동 변속기, 주행 장치 제어기 또는 엔진 제어 장치로 전송되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 제1항 또는 제3항에 있어서, 계산된 횡방향 가속도(aQB)가 차량(K)의 형태에 따른 고유 데이터와 가중되어 산정되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 제1항 또는 제3항에 있어서, 횡방향 가속도(aQB)가 공식 aQB = (tan(WLR/ilenk)/L) * (v2 X/(1+(vX/vCH)2))에 따라 계산되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 제1항 또는 제3항에 있어서, 횡방향 가속도에 대한 평가 계수와 요잉율에 대한 평가 계수로부터 평균으로 계산된 평가 계수가 형성되는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 방법.
- 횡방향 가속도(aQM) 또는 요잉율을 측정하기 위한 측정 장치(12), 속도계(15) 및 장치(10)를 가지며 제1항 및 제3항 중 어느 한 항을 실행하기 위한 차량의 불안정한 주행 상태를 측정하기 위한 장치에 있어서,조향 각도(WLR)를 측정하기 위해 조향 각도 센서(11)가 설치되고, 장치(10)가 형성되며, 조향 각도(WLR)와 주행 속도(Vx)로부터 횡방향 가속도(aQB) 또는 요잉율을 계산하고, 계산된 횡방향 가속도와 측정된 가속도 간의 차분(daQ)으로부터 혹은 계산된 요잉율과 측정된 요잉율 간의 차분(daQ)으로부터 하나의 평가 계수(fdaQ)를 형성하는 것을 특징으로 하는 차량의 불안정한 주행 상태를 측정하기 위한 장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19958492.3 | 1999-12-04 | ||
DE19958492A DE19958492A1 (de) | 1999-12-04 | 1999-12-04 | Verfahren und Vorrichtung zur Ermittlung eines instabilen Fahrzustands eines Kraftfahrzeuges |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20010070260A KR20010070260A (ko) | 2001-07-25 |
KR100726907B1 true KR100726907B1 (ko) | 2007-06-11 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020000072663A KR100726907B1 (ko) | 1999-12-04 | 2000-12-02 | 차량의 불안정한 주행 상태를 측정하기 위한 방법 및 장치 |
Country Status (5)
Country | Link |
---|---|
US (1) | US6519523B2 (ko) |
JP (1) | JP2001209899A (ko) |
KR (1) | KR100726907B1 (ko) |
DE (1) | DE19958492A1 (ko) |
GB (1) | GB2360096B (ko) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002022766A (ja) * | 2000-07-07 | 2002-01-23 | Hino Motors Ltd | センサの故障判定装置 |
WO2002081278A1 (de) * | 2001-03-20 | 2002-10-17 | Continental Teves Ag & Co. Ohg | Verfahren zur verbesserung des regelverhaltens eines geregelten kraftfahrzeugbremssystems |
FR2827026B1 (fr) * | 2001-07-06 | 2003-09-12 | Renault | Procede de commande d'une transmission automatique en fonction du profil de la route |
FR2834562B1 (fr) * | 2002-01-08 | 2004-03-12 | Renault | Procede et dispositif d'estimation de l'acceleration laterale d'un vehicule automobile |
JP3868848B2 (ja) * | 2002-05-23 | 2007-01-17 | 三菱電機株式会社 | 車両状態検出装置 |
JP3829934B2 (ja) * | 2002-06-27 | 2006-10-04 | トヨタ自動車株式会社 | 車輌の旋回特性推定装置 |
DE10338879A1 (de) * | 2003-08-23 | 2005-03-17 | Wabco Gmbh & Co.Ohg | Verfahren zur Abschätzung einer Querbeschleunigung eines Fahrzeugs |
DE10338994A1 (de) | 2003-08-25 | 2005-03-24 | Trw Fahrwerksysteme Gmbh & Co. Kg | Verfahren zum Betrieb eines Fahrwerkregelsystems und Vorrichtung zur Durchführung des Verfahrens |
DE102004047860A1 (de) * | 2004-10-01 | 2006-04-20 | Daimlerchrysler Ag | Verfahren und Vorrichtung zur Beeinflussung der Querdynamik eines Fahrzeugs |
KR101024948B1 (ko) * | 2005-12-28 | 2011-03-31 | 주식회사 만도 | 차량 안정성 제어시스템의 엔진제어방법 |
DE102007017245A1 (de) * | 2007-04-12 | 2008-10-16 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren und Vorrichtung zur Wankstabilisierung eines Kraftfahrzeugs |
KR20090107334A (ko) * | 2008-04-08 | 2009-10-13 | 주식회사 만도 | 차량용 제동제어장치와 현가제어장치 간의 데이터통신을 통한 차고제어장치 및 그 제어방법 |
DE102009031676A1 (de) * | 2009-07-02 | 2011-01-05 | Joerg Boie | Warneinrichtung für Insassen in Fahrzeugen zur Vermeidung von Insassenschäden |
JP5407696B2 (ja) | 2009-09-18 | 2014-02-05 | 株式会社アドヴィックス | 車両挙動制御装置 |
JP5229338B2 (ja) | 2011-02-17 | 2013-07-03 | トヨタ自動車株式会社 | 車両状態量推定装置 |
DE102011107818A1 (de) * | 2011-07-16 | 2013-01-17 | Audi Ag | Verfahren zur Ermittlung der Restreichweite eines Kraftfahrzeugs und Kraftfahrzeug |
SE539154C2 (sv) * | 2012-12-04 | 2017-04-18 | Scania Cv Ab | Anordning och förfarande för förbättring av säkerhet vid framförande av ett fordon |
US20180043895A1 (en) * | 2016-08-12 | 2018-02-15 | GM Global Technology Operations LLC | Vehicle soft-park control system |
DE102019113490A1 (de) | 2019-05-21 | 2020-11-26 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Plausibilisierung einer Querbeschleunigung und einer Anzahl weiterer Eingangsgrößen eines Getriebeschaltprogramms eines automatisierten Schaltgetriebes eines Kraftfahrzeugs |
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JPH04179207A (ja) * | 1990-11-14 | 1992-06-25 | Toshiba Corp | ガス絶縁変圧器 |
GB2257551A (en) * | 1991-07-12 | 1993-01-13 | Bosch Gmbh Robert | Determination of a parameter of motion of a vehicle |
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EP0781695A2 (en) * | 1995-12-27 | 1997-07-02 | Toyota Jidosha Kabushiki Kaisha | Device for estimating slip angle of vehicle body through interrelation thereof with yaw rate |
GB2323454A (en) * | 1994-06-27 | 1998-09-23 | Fuji Heavy Ind Ltd | Torque distribution control in a vehicle |
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JP3328014B2 (ja) * | 1993-08-04 | 2002-09-24 | マツダ株式会社 | 車両の制御装置 |
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JPH0986365A (ja) * | 1995-09-21 | 1997-03-31 | Fuji Heavy Ind Ltd | 制動力制御装置 |
JP3353576B2 (ja) * | 1995-10-27 | 2002-12-03 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3191708B2 (ja) * | 1995-12-27 | 2001-07-23 | トヨタ自動車株式会社 | 車輌の横滑り状態量検出装置 |
JPH11139333A (ja) * | 1997-11-10 | 1999-05-25 | Toyota Central Res & Dev Lab Inc | 操舵力制御装置 |
DE19817686A1 (de) * | 1998-04-21 | 1999-10-28 | Wabco Gmbh | Verfahren zur Bestimmung einer Vergleichsgröße |
-
1999
- 1999-12-04 DE DE19958492A patent/DE19958492A1/de not_active Withdrawn
-
2000
- 2000-11-08 JP JP2000339928A patent/JP2001209899A/ja active Pending
- 2000-12-01 GB GB0029400A patent/GB2360096B/en not_active Expired - Fee Related
- 2000-12-01 US US09/728,339 patent/US6519523B2/en not_active Expired - Lifetime
- 2000-12-02 KR KR1020000072663A patent/KR100726907B1/ko active IP Right Grant
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04179207A (ja) * | 1990-11-14 | 1992-06-25 | Toshiba Corp | ガス絶縁変圧器 |
GB2257551A (en) * | 1991-07-12 | 1993-01-13 | Bosch Gmbh Robert | Determination of a parameter of motion of a vehicle |
JPH05208608A (ja) * | 1991-07-12 | 1993-08-20 | Robert Bosch Gmbh | 自動車の少なくとも1つの運動変数の決定方法 |
JPH082275A (ja) * | 1994-06-27 | 1996-01-09 | Fuji Heavy Ind Ltd | 車両の駆動力制御装置 |
GB2323454A (en) * | 1994-06-27 | 1998-09-23 | Fuji Heavy Ind Ltd | Torque distribution control in a vehicle |
EP0781695A2 (en) * | 1995-12-27 | 1997-07-02 | Toyota Jidosha Kabushiki Kaisha | Device for estimating slip angle of vehicle body through interrelation thereof with yaw rate |
Also Published As
Publication number | Publication date |
---|---|
GB2360096A (en) | 2001-09-12 |
GB0029400D0 (en) | 2001-01-17 |
GB2360096B (en) | 2002-03-06 |
JP2001209899A (ja) | 2001-08-03 |
US20010021885A1 (en) | 2001-09-13 |
DE19958492A1 (de) | 2001-06-07 |
KR20010070260A (ko) | 2001-07-25 |
US6519523B2 (en) | 2003-02-11 |
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