WO1992005984A3 - Method of improving vehicle control when braking - Google Patents

Method of improving vehicle control when braking Download PDF

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Publication number
WO1992005984A3
WO1992005984A3 PCT/EP1991/001837 EP9101837W WO9205984A3 WO 1992005984 A3 WO1992005984 A3 WO 1992005984A3 EP 9101837 W EP9101837 W EP 9101837W WO 9205984 A3 WO9205984 A3 WO 9205984A3
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
braking
vehicle control
longitudinal
slip values
Prior art date
Application number
PCT/EP1991/001837
Other languages
German (de)
French (fr)
Other versions
WO1992005984A2 (en
Inventor
Thomas Ehret
Friedrich Kost
Uwe Hartmann
Rainer Erhardt
Zanten Anton Van
Gerd Busch
Karl-Josef Weiss
Wolf-Dieter Ruf
Original Assignee
Bosch Gmbh Robert
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 Bosch Gmbh Robert filed Critical Bosch Gmbh Robert
Priority to KR1019920701277A priority Critical patent/KR100215611B1/en
Priority to EP91916870A priority patent/EP0503030B1/en
Priority to DE59107033T priority patent/DE59107033D1/en
Publication of WO1992005984A2 publication Critical patent/WO1992005984A2/en
Publication of WO1992005984A3 publication Critical patent/WO1992005984A3/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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip 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
    • 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
    • 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
    • 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
    • B60T2270/86—Optimizing braking by using ESP vehicle or tire model

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Described is a method of improving vehicle control when braking, in which target slip values are determined and adjusted with a wheel-slip controller. The following parameters are measured: yaw rate γ, steering angle δ, wheel speeds VRi, inlet pressure or wheel brake pressure, engine rpm and throttle opening angle. The following parameters are estimated: longitudinal vehicle speed VX, longitudinal vehicle acceleration VX, wheel-slip values μ, longitudinal forces FB and transverse speed VY. Using a simple vehicle model, reference slip values μ(i)* are determined from these parameters.
PCT/EP1991/001837 1990-09-28 1991-09-26 Method of improving vehicle control when braking WO1992005984A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019920701277A KR100215611B1 (en) 1990-09-28 1991-09-26 Method for improving the controllability of motor vehicles
EP91916870A EP0503030B1 (en) 1990-09-28 1991-09-26 Method of improving vehicle control when braking
DE59107033T DE59107033D1 (en) 1990-09-28 1991-09-26 METHOD FOR IMPROVING THE CONTROLLABILITY OF MOTOR VEHICLES IN BRAKING.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4030704A DE4030704C2 (en) 1990-09-28 1990-09-28 Method for improving the controllability of motor vehicles when braking
DEP4030704.2 1990-09-28

Publications (2)

Publication Number Publication Date
WO1992005984A2 WO1992005984A2 (en) 1992-04-16
WO1992005984A3 true WO1992005984A3 (en) 1992-05-14

Family

ID=6415169

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1991/001837 WO1992005984A2 (en) 1990-09-28 1991-09-26 Method of improving vehicle control when braking

Country Status (6)

Country Link
EP (1) EP0503030B1 (en)
JP (2) JPH05502422A (en)
KR (1) KR100215611B1 (en)
AT (1) ATE131119T1 (en)
DE (2) DE4030704C2 (en)
WO (1) WO1992005984A2 (en)

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DE4030724B4 (en) * 1990-09-28 2005-05-04 Robert Bosch Gmbh Anti-lock control system
JPH04292250A (en) * 1991-03-20 1992-10-16 Hitachi Ltd Antiskid controller and method thereof
DE4217710A1 (en) * 1992-06-01 1993-12-02 Porsche Ag Continuous detection of slippery winter road surfaces - determining and comparing driving parameters and boundary conditions for motor car
DE4225983C2 (en) * 1992-08-06 2002-03-14 Bosch Gmbh Robert Method for braking vehicle wheels
DE4229504B4 (en) * 1992-09-04 2007-11-29 Robert Bosch Gmbh Method for regulating vehicle stability
DE4243717A1 (en) * 1992-12-23 1994-06-30 Bosch Gmbh Robert Procedure for regulating vehicle stability
JP3150832B2 (en) * 1993-10-26 2001-03-26 トヨタ自動車株式会社 Vehicle braking control device
DE4419131B4 (en) * 1993-06-11 2008-12-18 Volkswagen Ag Motor vehicle, preferably passenger car
DE4340932B4 (en) * 1993-12-01 2005-08-25 Robert Bosch Gmbh Method for regulating the driving stability of a motor vehicle
DE4418772C2 (en) * 1994-05-28 2000-08-24 Daimler Chrysler Ag Method for regulating the brake pressure as a function of the deviation of the actual wheel slip from a target slip
US5711024A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for controlling yaw moment based on an estimated coefficient of friction
DE19515060A1 (en) * 1994-11-25 1996-05-30 Teves Gmbh Alfred Vehicle wheel braking force determn. by reference speed comparison
US5671143A (en) * 1994-11-25 1997-09-23 Itt Automotive Europe Gmbh Driving stability controller with coefficient of friction dependent limitation of the reference yaw rate
US5735584A (en) * 1994-11-25 1998-04-07 Itt Automotive Europe Gmbh Process for driving stability control with control via pressure gradients
US5710704A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for driving stability control during travel through a curve
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
US5701248A (en) 1994-11-25 1997-12-23 Itt Automotive Europe Gmbh Process for controlling the driving stability with the king pin inclination difference as the controlled variable
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
JP3724845B2 (en) * 1995-06-09 2005-12-07 本田技研工業株式会社 Anti-lock brake control method for vehicle
JP3348567B2 (en) * 1995-07-20 2002-11-20 トヨタ自動車株式会社 Vehicle braking control device
JPH09156487A (en) * 1995-12-13 1997-06-17 Fuji Heavy Ind Ltd Braking force control device
DE19707106B4 (en) * 1996-03-30 2008-12-04 Robert Bosch Gmbh System for controlling brake systems
DE19617590A1 (en) * 1996-05-02 1997-11-06 Teves Gmbh Alfred Method for determining a target vehicle behavior
DE19749005A1 (en) 1997-06-30 1999-01-07 Bosch Gmbh Robert Method and device for regulating movement variables representing vehicle movement
DE19820107A1 (en) * 1997-12-20 1999-06-24 Itt Mfg Enterprises Inc Method of improving driving quality of a vehicle with brakes applied while cornering
DE19812238A1 (en) * 1998-03-20 1999-09-23 Daimler Chrysler Ag Procedure for controlling the yaw behavior of vehicles
JP3458734B2 (en) 1998-04-09 2003-10-20 トヨタ自動車株式会社 Vehicle motion control device
DE19851978A1 (en) * 1998-11-11 2000-05-25 Daimler Chrysler Ag Procedure for controlling the lateral dynamics of a vehicle with front axle steering
JP3621842B2 (en) 1999-02-01 2005-02-16 トヨタ自動車株式会社 Vehicle motion control device
DE19954198B4 (en) * 1999-02-11 2011-08-18 Continental Teves AG & Co. OHG, 60488 Method and device for determining a braking force acting in the footprint of a wheel of a vehicle
DE10209884B4 (en) * 2001-03-09 2018-10-25 Continental Teves Ag & Co. Ohg Vehicle stabilizing device
DE10254392A1 (en) * 2002-11-18 2004-05-27 Volkswagen Ag Regulating vehicle dynamics involves detecting variable system parameter deviation from base value, identifying system parameter, determining identified system model, adapting control gain to model
DE10355701A1 (en) * 2003-11-28 2005-06-16 Zf Friedrichshafen Ag Method for controlling and regulating the driving dynamics of a vehicle
JP4720107B2 (en) 2004-05-27 2011-07-13 日産自動車株式会社 Driver model and vehicle function control system assist function evaluation device equipped with the model
DE102004034067A1 (en) * 2004-07-15 2006-02-09 Bayerische Motoren Werke Ag Method for stabilizing vehicle during braking operation on inclined surface, comprising shifting of activation point of torque regulating device
DE102004035004A1 (en) 2004-07-20 2006-02-16 Bayerische Motoren Werke Ag Method for increasing the driving stability of a motor vehicle
DE102005011831B4 (en) * 2005-03-15 2011-12-08 Audi Ag Method for determining a setpoint slip specification in an antilock braking system of a vehicle
US8050822B2 (en) 2005-12-27 2011-11-01 Honda Motor Co., Ltd. Controller of vehicle
CN101331046B (en) * 2005-12-27 2011-06-15 本田技研工业株式会社 Vehicle control device
DE102006009682A1 (en) * 2006-03-02 2007-09-06 Bayerische Motoren Werke Ag Dual-tracked vehicle`s driving condition determining method, involves using tire or wheel forces in vehicle-transverse direction, direction of vehicle-vertical axis and direction of longitudinal direction as value measured at vehicle
DE102008036545B4 (en) * 2008-07-16 2023-06-01 Continental Automotive Technologies GmbH Method for improving motor vehicle ABS control
US8977430B2 (en) 2012-12-26 2015-03-10 Robert Bosch Gmbh Electronic stability control system indicator

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0152602A1 (en) * 1983-12-16 1985-08-28 Robert Bosch Gmbh Procedure for determining an optimum slip value
EP0219023A2 (en) * 1985-10-08 1987-04-22 Robert Bosch Gmbh Brake-pressure regulation system
EP0323066A2 (en) * 1987-12-28 1989-07-05 Ford Motor Company Limited Automotive system for dynamically determining road adhesion
EP0325298A2 (en) * 1988-01-22 1989-07-26 Masahiko Mitsunari Driving control apparatus for automobile
WO1990006251A1 (en) * 1988-12-01 1990-06-14 Robert Bosch Gmbh Process for improving the controllability of a vehicle
EP0392165A1 (en) * 1989-04-12 1990-10-17 Bayerische Motoren Werke Aktiengesellschaft Method for controlling a lateral dynamic status value of a motor vehicle
WO1991004892A2 (en) * 1989-10-09 1991-04-18 Robert Bosch Gmbh Antilock braking system and drive slip control system

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DE3826982C2 (en) * 1987-08-10 2000-11-30 Denso Corp Auxiliary steering system connected to an anti-lock control system for use in motor vehicles
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DE3905045A1 (en) * 1989-02-18 1990-08-23 Teves Gmbh Alfred CIRCUIT ARRANGEMENT FOR A BRAKE SYSTEM WITH ANTI-BLOCKING PROTECTION AND / OR DRIVE SLIP CONTROL

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0152602A1 (en) * 1983-12-16 1985-08-28 Robert Bosch Gmbh Procedure for determining an optimum slip value
EP0219023A2 (en) * 1985-10-08 1987-04-22 Robert Bosch Gmbh Brake-pressure regulation system
EP0323066A2 (en) * 1987-12-28 1989-07-05 Ford Motor Company Limited Automotive system for dynamically determining road adhesion
EP0325298A2 (en) * 1988-01-22 1989-07-26 Masahiko Mitsunari Driving control apparatus for automobile
WO1990006251A1 (en) * 1988-12-01 1990-06-14 Robert Bosch Gmbh Process for improving the controllability of a vehicle
EP0392165A1 (en) * 1989-04-12 1990-10-17 Bayerische Motoren Werke Aktiengesellschaft Method for controlling a lateral dynamic status value of a motor vehicle
WO1991004892A2 (en) * 1989-10-09 1991-04-18 Robert Bosch Gmbh Antilock braking system and drive slip control system

Also Published As

Publication number Publication date
WO1992005984A2 (en) 1992-04-16
JP2003127850A (en) 2003-05-08
ATE131119T1 (en) 1995-12-15
KR100215611B1 (en) 1999-08-16
KR920702305A (en) 1992-09-03
EP0503030A1 (en) 1992-09-16
JPH05502422A (en) 1993-04-28
EP0503030B1 (en) 1995-12-06
DE4030704A1 (en) 1992-04-02
DE4030704C2 (en) 2000-01-13
DE59107033D1 (en) 1996-01-18

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