WO1992005987A2 - Verfahren zum bestimmen der schräglaufwinkel und/oder der seitenführungskräfte eines gebremsten fahrzeugs - Google Patents
Verfahren zum bestimmen der schräglaufwinkel und/oder der seitenführungskräfte eines gebremsten fahrzeugs Download PDFInfo
- Publication number
- WO1992005987A2 WO1992005987A2 PCT/EP1991/001841 EP9101841W WO9205987A2 WO 1992005987 A2 WO1992005987 A2 WO 1992005987A2 EP 9101841 W EP9101841 W EP 9101841W WO 9205987 A2 WO9205987 A2 WO 9205987A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- determining
- angle
- slip
- wheel
- Prior art date
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
- 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
Definitions
- the slip angle of the wheels or the axles of a braked motor vehicle are important variables for the driving dynamics control of a motor vehicle. This also applies to the cornering forces on the individual wheels. Both quantities are difficult to measure or determine directly.
- the invention proposes an estimate of these quantities, in which
- Estimation Measured variables are included, which are anyway required for driving dynamics control and are therefore measured.
- F BH F B3 + F B4 .
- ⁇ H moment of inertia around vertical axis
- V L longitudinal vehicle speed
- N i riot power of the i. Rads
- the cornering force and braking force are calculated according to the HSRI tire model:
- r S steering roll radius
- n R Tire overrun
- ⁇ steering angle
- F S1 ( ⁇ - ⁇ V ) + u 1 (2.18)
- F S2 ( ⁇ - ⁇ V ) + u 2 (2.19)
- F S3 ⁇ H + u 3 (2.20)
- F S4 ⁇ H + u 4 ( 2.21)
- Front axle 1EH (n R + n K )
- V Ri are measured quantities. Everything else is a constant.
- M BR C P P R and (3.2) ⁇ R : wheel moment of inertia
- the wheel brake cylinder pressures can be estimated in a known manner from the measured admission pressure (master brake cylinder pressure) in connection with a hydraulic model or can be measured directly.
- the longitudinal vehicle speed is calculated from the wheel signals and the estimated vehicle deceleration: a L - F Bi (3.4) won.
- the Gln. (4.3) and (4.4) represent a simple, linear time-variant vehicle model.
- the model (4.5) can be reduced to order one.
- C RN C RL - K P - K D
- K P , K D gain factors> 0
- the resulting slip resistance C V , C H are determined from C RV , C RH using a simple wheel suspension model.
- Fig. 11 shows the structure of the "slip rigidity control”.
- Fig. 12 shows a comparison between measured and simulated vehicle lateral speed using the "slip rigidity controller".
- the difference between the measured and simulated yaw rate can be used as an indicator for the transition from the linear to the non-linear area of the lateral force slip curve.
- the relationship between the lateral force and the slip angle is described approximately by a straight line with the slope C RN (see FIG. 10).
- the tire contact forces can be derived from the gin. (1.3), (1.5), (1.6) and (1.8) win. The following applies:
- Figures 4 to 7 show comparisons between measured ( ⁇ V ) and estimated ( ⁇ V ) slip angles in different driving maneuvers on different surfaces in a particular vehicle. The individual shows:
- FIG. 13 of the drawing There are sensors 1 for the wheel speeds V Ri , 2 for the wheel cylinder pressure P i or the master brake cylinder pressure P HBZ , 3 for the steering angle ⁇ and 4 for the yaw rate intended.
- the braking forces F Bi are obtained according to the relationship 3.3 and the longitudinal vehicle speed, for example using the relationship 3.4.
- the terminals 5a are intended to indicate the input of constants required for determining the sizes.
- Terminals 6a are intended to indicate that the controller of FIG. 11 feeds the variable quantities and.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE59104158T DE59104158D1 (de) | 1990-09-28 | 1991-09-26 | Verfahren zum bestimmen der schräglaufwinkel und/oder der seitenführungskräfte eines gebremsten fahrzeugs. |
EP91916578A EP0503026B1 (de) | 1990-09-28 | 1991-09-26 | Verfahren zum bestimmen der schräglaufwinkel und/oder der seitenführungskräfte eines gebremsten fahrzeugs |
US07/859,394 US5371677A (en) | 1990-09-28 | 1991-09-26 | Method for determining the slip angles and/or the cornering forces of a braked vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP4030653.4 | 1990-09-28 | ||
DE4030653A DE4030653A1 (de) | 1990-09-28 | 1990-09-28 | Verfahren zum bestimmen der schraeglaufwinkel und/oder der seitenfuehrungskraefte eines gebremsten fahrzeuges |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1992005987A2 true WO1992005987A2 (de) | 1992-04-16 |
WO1992005987A3 WO1992005987A3 (de) | 1992-05-14 |
Family
ID=6415136
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1991/001841 WO1992005987A2 (de) | 1990-09-28 | 1991-09-26 | Verfahren zum bestimmen der schräglaufwinkel und/oder der seitenführungskräfte eines gebremsten fahrzeugs |
Country Status (6)
Country | Link |
---|---|
US (1) | US5371677A (de) |
EP (1) | EP0503026B1 (de) |
JP (2) | JPH05502421A (de) |
DE (2) | DE4030653A1 (de) |
HU (1) | HU9201785D0 (de) |
WO (1) | WO1992005987A2 (de) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2257551A (en) * | 1991-07-12 | 1993-01-13 | Bosch Gmbh Robert | Determination of a parameter of motion of a vehicle |
FR2694808A1 (fr) * | 1992-08-13 | 1994-02-18 | Daimler Benz Ag | Procédé de détermination des grandeurs caractéristiques du comportement en marche d'un véhicule. |
FR2695369A1 (fr) * | 1992-09-04 | 1994-03-11 | Bosch Gmbh Robert | Procédé pour la régulation de la stabilité d'un véhicule. |
WO1994014640A1 (de) * | 1992-12-23 | 1994-07-07 | Robert Bosch Gmbh | Verfahren zur regelung der fahrzeugstabilität |
WO1997008028A2 (de) * | 1995-08-22 | 1997-03-06 | Robert Bosch Gmbh | Verfahren und vorrichtung zur steuerung der bremsanlage eines fahrzeugs |
WO2003076243A1 (de) * | 2002-03-13 | 2003-09-18 | Daimlerchrysler Ag | Verfahren und vorrichtung zur ermittlung von das fahrverhalten eines fahrzeuges charakterisierenden grössen |
EP2757007A1 (de) * | 2013-01-17 | 2014-07-23 | Autoliv Development AB | Fahrzeugsicherheitssystem |
Families Citing this family (59)
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DE4225983C2 (de) * | 1992-08-06 | 2002-03-14 | Bosch Gmbh Robert | Verfahren zur Bremsung von Fahrzeugrädern |
DE4226746C1 (de) * | 1992-08-13 | 1993-10-07 | Daimler Benz Ag | Verfahren zur Bestimmung eines fahrsituationsabhängigen Lenkwinkels |
DE4419979C2 (de) * | 1994-06-08 | 1997-09-04 | Bayerische Motoren Werke Ag | Verfahren zum Bestimmen des Schräglaufwinkels und/oder des Querschlupfes eines Rades bei Kraftfahrzeugen |
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 |
DE19515060A1 (de) | 1994-11-25 | 1996-05-30 | Teves Gmbh Alfred | Verfahren zur Bestimmung eines Radbremsdruckes |
US5732379A (en) | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Brake system for a motor vehicle with yaw moment control |
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 |
US5732378A (en) | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Method for determining a wheel brake pressure |
US5710705A (en) | 1994-11-25 | 1998-01-20 | Itt Automotive Europe Gmbh | Method for determining an additional yawing moment based on side slip angle velocity |
US5774821A (en) | 1994-11-25 | 1998-06-30 | Itt Automotive Europe Gmbh | System for driving stability control |
US5732377A (en) | 1994-11-25 | 1998-03-24 | Itt Automotive Europe Gmbh | Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters |
US5694321A (en) | 1994-11-25 | 1997-12-02 | Itt Automotive Europe Gmbh | System for integrated driving stability control |
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 |
US5742507A (en) | 1994-11-25 | 1998-04-21 | Itt Automotive Europe Gmbh | Driving stability control circuit with speed-dependent change of the vehicle model |
US5711024A (en) | 1994-11-25 | 1998-01-20 | Itt Automotive Europe Gmbh | System for controlling yaw moment based on an estimated coefficient of friction |
DE4446534B4 (de) * | 1994-12-24 | 2004-06-17 | Robert Bosch Gmbh | Fahrdynamikregelsystem |
DE4446592B4 (de) * | 1994-12-24 | 2005-08-04 | Robert Bosch Gmbh | Fahrdynamikregelsystem |
DE4446582B4 (de) * | 1994-12-24 | 2005-11-17 | Robert Bosch Gmbh | Fahrdynamikregelsystem |
US5576959A (en) * | 1995-03-03 | 1996-11-19 | Ford Motor Company | Method for controlling yaw of a wheeled vehicle based on under-steer and over-steer containment routines |
JP3303605B2 (ja) * | 1995-05-17 | 2002-07-22 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3060923B2 (ja) * | 1995-11-24 | 2000-07-10 | トヨタ自動車株式会社 | 車両状態推定装置 |
DE19544691B4 (de) * | 1995-11-30 | 2004-08-05 | Robert Bosch Gmbh | System zur Bestimmung der Schräglaufsteifigkeit |
US5684700A (en) * | 1995-12-05 | 1997-11-04 | Ford Global Technologies, Inc. | Adaptive steering control using vehicle slip angle and steering rate |
US5899952A (en) * | 1995-12-27 | 1999-05-04 | Toyota Jidosha Kabushiki Kaisha | Device for estimating slip angle of vehicle body through interrelation thereof with yaw rate |
DE19617590A1 (de) * | 1996-05-02 | 1997-11-06 | Teves Gmbh Alfred | Verfahren zur Bestimmung eines Fahrzeug-Sollverhaltens |
JP3553735B2 (ja) * | 1996-06-13 | 2004-08-11 | 正人 安部 | 車両挙動制御方法及びその装置 |
US5878357A (en) * | 1996-09-03 | 1999-03-02 | Ford Global Technologies, Inc. | Method and apparatus for vehicle yaw rate estimation |
DE59706597D1 (de) * | 1996-09-13 | 2002-04-18 | Volkswagen Ag | Verfahren und Vorrichtung zur Regelung des querdynamischen Verhaltens eines Kraftfahrzeugs |
JP3306315B2 (ja) * | 1996-10-04 | 2002-07-24 | 株式会社ユニシアジェックス | 車体スリップ角検出装置 |
US5918951A (en) * | 1997-05-09 | 1999-07-06 | The B.F. Goodrich Company | Antiskid brake control system using kalman filtering |
US6220676B1 (en) | 1997-05-09 | 2001-04-24 | The B. F. Goodrich Company | Antiskid control of multi-wheel vehicles using coupled and decoupled Kalman filtering incorporating pitch weight transfer |
US6036285A (en) * | 1997-12-31 | 2000-03-14 | The B.F. Goodrich Company | Brake system using torque feedback control with torque level transitioning |
US5951122A (en) * | 1997-12-31 | 1999-09-14 | The B.F. Goodrich Company | Antiskid control and wheel lock protection differential reference controller |
US6125318A (en) * | 1998-02-12 | 2000-09-26 | The B. F. Goodrich Company | Slip ratio antiskid controller using mu/slip ratio generated velocity reference |
US6178370B1 (en) | 1998-02-12 | 2001-01-23 | The B. F. Goodrich Company | Deceleration based antiskid brake contoller with adaptive deceleration threshold |
JP3458734B2 (ja) * | 1998-04-09 | 2003-10-20 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
DE19910967C1 (de) | 1999-03-12 | 2000-09-21 | Avl Deutschland Gmbh | Verfahren zum Simulieren des Verhaltens eines Fahrzeugs auf einer Fahrbahn |
US6508102B1 (en) | 1999-08-26 | 2003-01-21 | Aisin Seiki Co., Ltd. | Near real-time friction estimation for pre-emptive vehicle control |
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US6829524B2 (en) * | 2001-08-20 | 2004-12-07 | Wisys Technology Foundation, Inc. | Method and apparatus for estimating yaw rate in a wheeled vehicle and stability system |
FR2834562B1 (fr) * | 2002-01-08 | 2004-03-12 | Renault | Procede et dispositif d'estimation de l'acceleration laterale d'un vehicule automobile |
US20030151302A1 (en) * | 2002-02-08 | 2003-08-14 | Sohel Anwar | Slip regulation algorithm for an automotive vehicle using a normal force estimate and a predetermined peak wheel slip |
DE10215464B9 (de) * | 2002-03-28 | 2013-11-07 | Volkswagen Ag | Verfahren und Vorrichtung zum Schätzen einer Zustandsgröße |
US6711488B2 (en) | 2002-05-22 | 2004-03-23 | Goodrich Corporation | Wheel deceleration-based antiskid brake controller with adaptive deceleration threshold |
DE10237462B4 (de) * | 2002-08-16 | 2004-07-29 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bestimmung von Schräglaufwinkeln mittels einer aktiven Lenkung und mittels einer die Radkraft messenden Sensorik |
US6816804B1 (en) * | 2003-06-04 | 2004-11-09 | Visteon Global Technologies, Inc. | System and method for estimating velocity using reliability indexed sensor fusion |
JP4950052B2 (ja) * | 2004-10-14 | 2012-06-13 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 電子的に制御可能なディファレンシャルロック機構のロックレベルを制御するための方法及び装置 |
KR101237224B1 (ko) * | 2004-10-14 | 2013-02-26 | 콘티넨탈 테베스 아게 운트 코. 오하게 | 전자 제어 가능 차동 락의 락킹 정도를 제어하는 방법 및 디바이스 |
JP4606861B2 (ja) * | 2004-12-03 | 2011-01-05 | 本田技研工業株式会社 | 車両状態検知装置 |
US7121374B1 (en) * | 2005-04-30 | 2006-10-17 | Cnh America Llc | Four-wheel drive combine with slip control |
US7668637B2 (en) * | 2005-07-22 | 2010-02-23 | O'dea Kevin Austin | Technique for determining motor vehicle slip angle while accounting for road banks |
US7751961B2 (en) * | 2005-09-15 | 2010-07-06 | Gm Global Technology Operations, Inc. | Acceleration/deceleration induced real-time identification of maximum tire-road friction coefficient |
DE102007008002B4 (de) | 2007-02-15 | 2009-11-12 | Corrsys-Datron Sensorsysteme Gmbh | Verfahren und Vorrichtung zum berührungslosen Bestimmen des seitlichen Versatzes gegenüber einer Geradeausrichtung |
DE102008046259B4 (de) * | 2008-09-08 | 2019-10-31 | Volkswagen Ag | Verfahren und Vorrichtung zum Bestimmen einer Fahrstabilität eines Fahrzeugs beim Bremsen und Verfahren und Vorrichtung zum Einstellen eines Bremsdrucks für ein Fahrzeug |
US10427664B2 (en) * | 2014-07-17 | 2019-10-01 | Ford Global Technologies, Llc | Method and system for determining the effectiveness of a brake system |
KR102418028B1 (ko) * | 2018-04-06 | 2022-07-06 | 현대자동차주식회사 | 차량 제어 시스템, 차량 제어 시스템의 제어 방법 |
DE102018116512A1 (de) * | 2018-07-09 | 2020-01-09 | Valeo Schalter Und Sensoren Gmbh | Neue odometrische Berechnungen für eine Eigenbewegung eines Kraftfahrzeugs auf Basis einer Abschätzung von Steifigkeitskoeffizienten |
Citations (1)
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WO1990006251A1 (de) | 1988-12-01 | 1990-06-14 | Robert Bosch Gmbh | Verfahren zur erhöhung der beherrschbarkeit eines fahrzeugs |
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-
1990
- 1990-09-28 DE DE4030653A patent/DE4030653A1/de not_active Ceased
-
1991
- 1991-09-26 WO PCT/EP1991/001841 patent/WO1992005987A2/de active IP Right Grant
- 1991-09-26 EP EP91916578A patent/EP0503026B1/de not_active Expired - Lifetime
- 1991-09-26 JP JP3514929A patent/JPH05502421A/ja active Pending
- 1991-09-26 DE DE59104158T patent/DE59104158D1/de not_active Expired - Lifetime
- 1991-09-26 US US07/859,394 patent/US5371677A/en not_active Expired - Lifetime
-
1992
- 1992-05-28 HU HU9201785A patent/HU9201785D0/hu unknown
-
2002
- 2002-08-22 JP JP2002241391A patent/JP2003127806A/ja active Pending
Patent Citations (1)
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WO1990006251A1 (de) | 1988-12-01 | 1990-06-14 | Robert Bosch Gmbh | Verfahren zur erhöhung der beherrschbarkeit eines fahrzeugs |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2257551A (en) * | 1991-07-12 | 1993-01-13 | Bosch Gmbh Robert | Determination of a parameter of motion of a vehicle |
GB2257551B (en) * | 1991-07-12 | 1995-04-05 | Bosch Gmbh Robert | Determination of a parameter of motion of a vehicle |
FR2694808A1 (fr) * | 1992-08-13 | 1994-02-18 | Daimler Benz Ag | Procédé de détermination des grandeurs caractéristiques du comportement en marche d'un véhicule. |
FR2695369A1 (fr) * | 1992-09-04 | 1994-03-11 | Bosch Gmbh Robert | Procédé pour la régulation de la stabilité d'un véhicule. |
WO1994014640A1 (de) * | 1992-12-23 | 1994-07-07 | Robert Bosch Gmbh | Verfahren zur regelung der fahrzeugstabilität |
WO1997008028A2 (de) * | 1995-08-22 | 1997-03-06 | Robert Bosch Gmbh | Verfahren und vorrichtung zur steuerung der bremsanlage eines fahrzeugs |
WO1997008028A3 (de) * | 1995-08-22 | 1997-04-10 | Bosch Gmbh Robert | Verfahren und vorrichtung zur steuerung der bremsanlage eines fahrzeugs |
WO2003076243A1 (de) * | 2002-03-13 | 2003-09-18 | Daimlerchrysler Ag | Verfahren und vorrichtung zur ermittlung von das fahrverhalten eines fahrzeuges charakterisierenden grössen |
EP2757007A1 (de) * | 2013-01-17 | 2014-07-23 | Autoliv Development AB | Fahrzeugsicherheitssystem |
Also Published As
Publication number | Publication date |
---|---|
DE59104158D1 (de) | 1995-02-16 |
JP2003127806A (ja) | 2003-05-08 |
DE4030653A1 (de) | 1992-04-02 |
EP0503026A1 (de) | 1992-09-16 |
JPH05502421A (ja) | 1993-04-28 |
US5371677A (en) | 1994-12-06 |
EP0503026B1 (de) | 1995-01-04 |
WO1992005987A3 (de) | 1992-05-14 |
HU9201785D0 (en) | 1992-09-28 |
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