SE9302610L - Procedure for determining quantities that characterize the driving condition - Google Patents

Procedure for determining quantities that characterize the driving condition

Info

Publication number
SE9302610L
SE9302610L SE9302610A SE9302610A SE9302610L SE 9302610 L SE9302610 L SE 9302610L SE 9302610 A SE9302610 A SE 9302610A SE 9302610 A SE9302610 A SE 9302610A SE 9302610 L SE9302610 L SE 9302610L
Authority
SE
Sweden
Prior art keywords
characterize
procedure
driving condition
determining quantities
beta
Prior art date
Application number
SE9302610A
Other languages
Swedish (sv)
Other versions
SE9302610D0 (en
SE513553C2 (en
Inventor
Avshalom Suissa
Original Assignee
Daimler Benz Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler Benz Ag filed Critical Daimler Benz Ag
Publication of SE9302610D0 publication Critical patent/SE9302610D0/en
Publication of SE9302610L publication Critical patent/SE9302610L/en
Publication of SE513553C2 publication Critical patent/SE513553C2/en

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • 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
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/30—ESP control system
    • B60T2270/313—ESP control system with less than three sensors (yaw rate, steering angle, lateral acceleration)

Abstract

Signals 401, 402, 403, 406 which represent the longitudinal acceleration ax, the vehicle velocity in the longitudinal direction Vx, the transverse acceleration ay and the yaw angular velocity OMEGA z, are fed to a computer 407 and at least one further quantity 408, 410 comprising at least the floating angle is derived on the basis of these measured quantities in the computing device 407, using a vehicle model. The floating angle beta is defined by beta = - arctan (Vy/Vx). <IMAGE>
SE9302610A 1992-08-13 1993-08-11 Procedure for determining quantities that characterize the driving condition SE513553C2 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4226749A DE4226749C2 (en) 1992-08-13 1992-08-13 Method for determining variables that characterize driving behavior

Publications (3)

Publication Number Publication Date
SE9302610D0 SE9302610D0 (en) 1993-08-11
SE9302610L true SE9302610L (en) 1994-02-14
SE513553C2 SE513553C2 (en) 2000-10-02

Family

ID=6465434

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9302610A SE513553C2 (en) 1992-08-13 1993-08-11 Procedure for determining quantities that characterize the driving condition

Country Status (5)

Country Link
DE (1) DE4226749C2 (en)
FR (1) FR2694808B1 (en)
GB (1) GB2269571B (en)
IT (1) IT1261511B (en)
SE (1) SE513553C2 (en)

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DE4430458A1 (en) * 1994-08-27 1996-02-29 Teves Gmbh Alfred Method for determining the lateral acceleration of a vehicle
DE4434480A1 (en) * 1994-09-27 1996-03-28 Bayerische Motoren Werke Ag Method for determining the speed of a wheel in motor vehicles
DE19515059A1 (en) * 1994-11-25 1996-05-30 Teves Gmbh Alfred Vehicle ride stability regulator with limited reference yaw rate
KR0157738B1 (en) * 1995-02-10 1999-03-30 김은영 Method for measuring automobile motion resistance using distance-time inertia travelling test
DE19518700A1 (en) * 1995-05-22 1996-11-28 Bayerische Motoren Werke Ag Comfort evaluation device for motor vehicles with means for detecting and evaluating the longitudinal acceleration
DE19529539A1 (en) * 1995-08-11 1997-02-13 Man Nutzfahrzeuge Ag Procedure for the ON-BOARD determination of vehicle dynamic safety reserves of commercial vehicles
JP3008833B2 (en) * 1995-10-25 2000-02-14 トヨタ自動車株式会社 Estimation device for vehicle body skidding speed
DE19602994A1 (en) * 1996-01-27 1997-07-31 Teves Gmbh Alfred Method for determining variables that describe the driving behavior of a vehicle
WO1997028037A1 (en) * 1996-02-03 1997-08-07 Itt Manufacturing Enterprises, Inc. Method of determining variables which describe a vehicle's driving characteristics
DE19607050A1 (en) * 1996-02-03 1997-08-07 Teves Gmbh Alfred Method for determining variables that describe the driving behavior of a vehicle
DE19607429B4 (en) * 1996-02-28 2004-02-19 Daimlerchrysler Ag Fault-tolerant control device for a physical system, in particular vehicle dynamics control device for a motor vehicle
US5895433A (en) * 1996-05-23 1999-04-20 General Motors Corporation Vehicle chassis system control method and apparatus
US5857160A (en) * 1996-05-23 1999-01-05 General Motors Corporation Sensor-responsive control method and apparatus
US5667286A (en) * 1996-05-29 1997-09-16 General Motors Corporation Brake control system
US6325469B1 (en) 1996-09-06 2001-12-04 General Motors Corporation Brake control system
US6212460B1 (en) 1996-09-06 2001-04-03 General Motors Corporation Brake control system
US5720533A (en) * 1996-10-15 1998-02-24 General Motors Corporation Brake control system
US5746486A (en) * 1996-10-16 1998-05-05 General Motors Corporation Brake control system
US5941919A (en) * 1996-10-16 1999-08-24 General Motors Corporation Chassis control system
US5686662A (en) * 1996-10-16 1997-11-11 General Motors Corporation Brake control system
DE19650691C2 (en) * 1996-12-07 1998-10-29 Deutsch Zentr Luft & Raumfahrt Method for steering assistance for a driver of a road vehicle
US5948030A (en) * 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
US6547343B1 (en) 1997-09-08 2003-04-15 General Motors Corporation Brake system control
US6035251A (en) * 1997-11-10 2000-03-07 General Motors Corporation Brake system control method employing yaw rate and ship angle control
DE19817686A1 (en) 1998-04-21 1999-10-28 Wabco Gmbh Method for determining a comparison variable
DE19818860C2 (en) * 1998-04-28 2001-04-19 Daimler Chrysler Ag Method and device for the detection and localization of sensor errors in motor vehicles
US6205391B1 (en) 1998-05-18 2001-03-20 General Motors Corporation Vehicle yaw control based on yaw rate estimate
US6125319A (en) * 1998-08-17 2000-09-26 General Motors Corporation Brake system control method responsive to measured vehicle acceleration
US6112147A (en) * 1998-08-17 2000-08-29 General Motors Corporation Vehicle yaw rate control with bank angle compensation
US6079800A (en) * 1998-08-20 2000-06-27 General Motors Corporation Active brake control with front-to-rear proportioning
US6169951B1 (en) 1998-08-21 2001-01-02 General Motors Corporation Active brake control having yaw rate estimation
US6056371A (en) * 1998-08-24 2000-05-02 General Motors Corporation Feed-forward active brake control
US6175790B1 (en) 1998-08-24 2001-01-16 General Motors Corporation Vehicle yaw rate control with yaw rate command limiting
US5931887A (en) * 1998-09-24 1999-08-03 General Motors Corporation Brake control method based on a linear transfer function reference model
US6161905A (en) * 1998-11-19 2000-12-19 General Motors Corporation Active brake control including estimation of yaw rate and slip angle
US6195606B1 (en) 1998-12-07 2001-02-27 General Motors Corporation Vehicle active brake control with bank angle compensation
DE10002685A1 (en) * 2000-01-22 2001-07-26 Wabco Gmbh & Co Ohg Method for detecting the incorrect installation of sensing devices in a vehicle
DE10003739C2 (en) * 2000-01-28 2002-12-05 Daimler Chrysler Ag Method and system for identifying system parameters in vehicles
DE10047745A1 (en) * 2000-09-27 2002-04-11 Bayerische Motoren Werke Ag Signal filtering method
US6618651B1 (en) * 2002-02-25 2003-09-09 Visteon Global Technologies, Inc. Estimating vehicle velocities using linear-parameter-varying and gain varying scheduling theories
DE10391325D2 (en) * 2002-03-13 2005-02-10 Daimler Chrysler Ag Method and device for determining variables characterizing the driving behavior of a vehicle
DE102004053236B4 (en) * 2004-11-04 2006-10-19 Daimlerchrysler Ag Method for determining a longitudinal acceleration of a motor vehicle
DE502005008142D1 (en) * 2005-07-12 2009-10-29 Ford Global Tech Llc Method and arrangement for determining the yaw or rolling motion in a vehicle
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DE102016220388A1 (en) * 2016-10-18 2018-04-19 Audi Ag Method for calculating the lateral velocity of a vehicle

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EP0193744B2 (en) * 1985-02-06 1992-12-02 Toyota Jidosha Kabushiki Kaisha Vehicle active suspension system incorporating acceleration detecting means
JPH06104455B2 (en) * 1985-03-15 1994-12-21 日産自動車株式会社 Vehicle motion condition estimation device
JPS62137276A (en) * 1985-12-09 1987-06-20 Nissan Motor Co Ltd Steering system control device for vehicle
JPH0725320B2 (en) * 1986-10-13 1995-03-22 日産自動車株式会社 Actual steering angle control device for vehicle
DE3912045A1 (en) * 1989-04-12 1990-10-25 Bayerische Motoren Werke Ag METHOD FOR REGULATING A CROSS-DYNAMIC STATE SIZE OF A MOTOR VEHICLE
DE4030653A1 (en) * 1990-09-28 1992-04-02 Bosch Gmbh Robert METHOD FOR DETERMINING THE SLOPING ANGLE AND / OR THE SIDE GUIDING FORCE OF A BRAKED VEHICLE
DE4031304A1 (en) * 1990-10-04 1992-04-09 Bosch Gmbh Robert Model supported estimation of float angle - using vehicle speed from ABS system, steering angle sensor to derive transverse speed and hence float angle
DE4200061C2 (en) * 1992-01-03 2001-09-13 Bosch Gmbh Robert Procedure for determining the vehicle transverse speed and / or the slip angle

Also Published As

Publication number Publication date
ITRM930544A1 (en) 1995-02-09
ITRM930544A0 (en) 1993-08-09
DE4226749A1 (en) 1994-02-17
GB2269571B (en) 1995-11-08
GB9314918D0 (en) 1993-09-01
IT1261511B (en) 1996-05-23
FR2694808B1 (en) 1996-02-23
SE9302610D0 (en) 1993-08-11
DE4226749C2 (en) 1996-02-08
FR2694808A1 (en) 1994-02-18
GB2269571A (en) 1994-02-16
SE513553C2 (en) 2000-10-02

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