WO1997019841A1 - Verfahren zur verbesserung des regelverhaltens eines abs für geländegängige fahrzeuge - Google Patents
Verfahren zur verbesserung des regelverhaltens eines abs für geländegängige fahrzeuge Download PDFInfo
- Publication number
- WO1997019841A1 WO1997019841A1 PCT/EP1996/004531 EP9604531W WO9719841A1 WO 1997019841 A1 WO1997019841 A1 WO 1997019841A1 EP 9604531 W EP9604531 W EP 9604531W WO 9719841 A1 WO9719841 A1 WO 9719841A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- control
- vehicle
- speed
- road
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/16—Off-road driving conditions
Definitions
- the invention relates to a method for improving the control behavior of an anti-lock control system for off-road vehicles, in particular the control behavior on gravel, gravel and the like, in which the rotational behavior of the individual wheels is measured and for determining input variables is evaluated for the anti-lock control.
- ABS Anti-lock braking system
- the invention is therefore based on the object of developing a method suitable for off-road vehicles equipped with anti-lock control that ensures a comparatively high vehicle deceleration even in the case of unfavorable driving situations or roadway situations, without - by switching off the ABS - the advantages of an anti-lock regulation must be dispensed with.
- the special feature of the method according to the invention is that, at a vehicle speed or vehicle reference speed which is below a predetermined limit value, the control is designed such that only after one wheel of a vehicle is locked ⁇ axis uses the anti-lock control for the second wheel of the axle. Blocking of one wheel of an axle is therefore permitted and only the running stability of the second wheel is regulated.
- a special control mode is activated only when an off-road operation or a certain road surface condition and low speed is detected, in which the control for the second wheel of this axis only becomes effective after a wheel of one axle is blocked.
- blocking of one wheel of an axle is generally permitted at a vehicle speed which is below a predetermined limit value.
- a special control mode is only activated when "off-road operation" is recognized and at the same time the vehicle (reference) speed is below the specified limit value.
- the method according to the invention ensures a particularly high braking power or vehicle deceleration in the terrain and at low vehicle speed by blocking a wheel of an axle and at the same time maintaining the steering ability and driving stability by regulating the second wheel; at least the steering ability and stability is better than when ABS is switched off or when four wheels are locked.
- the braking distance is significantly shorter in the above-mentioned situations, by up to 25% compared to regulation on all wheels.
- the input signals of the anti-lock control system are obtained with the aid of wheel sensors S1 to S4.
- 1 signals or "data are derived from the sensor signals in a processing circuit, which to v 4 ein ⁇ the individual vehicle wheels and the rotational behavior reflect the speeds Vi of these wheels.
- the speed signals Vj to v 4 are evaluated in a known manner in an evaluation circuit 2, the changes in the vehicle speeds, namely the wheel decelerations and accelerations Vj to v 4 , the temporal changes in these variables v 1 to v 4 (the jerk ) and the wheel slip ⁇ j to ⁇ 4 are of interest.
- a vehicle reference speed v REF is used in this example, which is created by logically linking the individual wheel speeds v 1 to v 4 and which approximately reflects the vehicle speed.
- a circuit 4 symbolically represented as ABS logic
- data processing based on complex algorithms and by evaluating all available information from the wheel-specific measured values and the derived variables (deceleration, acceleration, jerk, slip, reference speed, etc.) are used to brake pressure control gnale won, which are supplied to a switching block 6 via a valve control 5.
- This switch block contains brake pressure actuators, e.g. Electromagnetically controllable hydraulic valves.
- each vehicle wheel has an electromagnetically controllable inlet and an outlet valve, with which the brake pressure in the individual vehicle wheels can be controlled and modulated in conjunction with an auxiliary pressure supply system or a hydraulic return pump.
- ABS circuit system of the type shown can of course also be implemented with the aid of program-controlled circuits, such as microcomputers, microcontrollers or the like.
- the circuit arrangement shown also contains an additional circuit 7 which contains the circuits required for carrying out the method according to the invention or which embodies the program steps required for this method.
- This additional circuit 7 is composed of two detection circuits 8 and 9 and an AND operation 10.
- the circuit 8 recognizes and signals a driving situation in the field, i. H. on bumpy roads, on gravel, gravel or the like.
- a driving situation in the field i. H. on bumpy roads, on gravel, gravel or the like.
- the wheel signals emitted by the wheel sensors and evaluated in the evaluation circuit 2 are expediently analyzed, as here.
- Driving off-road leads to typical wheel turning behavior, to wheel turning vibrations, chassis vibrations of certain amplitude or frequency or the like; the typical signal curve depends on the respective chassis design.
- the input E1 of the additional circuit 7 or the detection circuit 8 can alternatively or additionally be connected to a manually operated switch (not shown), with the aid of which the detection circuit 7 can signal "off-road operation".
- the second detection circuit 9 the input of which is designated E2, compares the instantaneous vehicle reference speed (v REF ) with a predetermined vehicle speed threshold v G. If the vehicle speed v FEF is below the predetermined speed limit value v 5 and "off-road operation" is recognized by the circuit 8, this is signaled via the AND logic operation 10 to the ABS logic 4. With the help of the ABS logic 4, as long as the aforementioned criteria are met, the special Control mode "switched". After activating this special control mode, pressure reduction or anti-lock control on a wheel is only permitted after the second wheel of the respective axle has been locked.
- v G the limit speed
- priority is given to an unhindered anti-lock control system with optimum steering ability and driving stability.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9520096A JP2000500717A (ja) | 1995-11-29 | 1996-10-18 | オフロード車両のabsの制御状態を改善する方法 |
EP96934742A EP0861174A1 (de) | 1995-11-29 | 1996-10-18 | Verfahren zur verbesserung des regelverhaltens eines abs für geländegängige fahrzeuge |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1995144445 DE19544445B4 (de) | 1995-11-29 | 1995-11-29 | Verfahren zur Verbesserung des Regelverhaltens eines ABS für geländegängige Fahrzeuge |
DE19544445.0 | 1995-11-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997019841A1 true WO1997019841A1 (de) | 1997-06-05 |
Family
ID=7778674
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1996/004531 WO1997019841A1 (de) | 1995-11-29 | 1996-10-18 | Verfahren zur verbesserung des regelverhaltens eines abs für geländegängige fahrzeuge |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0861174A1 (de) |
JP (1) | JP2000500717A (de) |
DE (1) | DE19544445B4 (de) |
WO (1) | WO1997019841A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19949286B4 (de) | 1999-10-12 | 2013-09-26 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Regelung wenigstens einer Fahrzeugbewegungsgrösse |
DE10045225A1 (de) * | 2000-09-13 | 2002-03-28 | Bayerische Motoren Werke Ag | Bremseingriffs-Regelungsverfahren zur Verhinderung von Radschlupf |
JP2002320341A (ja) * | 2001-02-14 | 2002-10-31 | Sony Corp | 充放電装置および方法、電力供給装置および方法、電力供給システムおよび方法、プログラム格納媒体、並びにプログラム |
DE10106927A1 (de) * | 2001-02-15 | 2002-08-22 | Wabco Gmbh & Co Ohg | Verfahren zur Erkennung des Zustandes "Gas gegen Bremse" |
DE10253536A1 (de) * | 2002-11-16 | 2004-05-27 | Wabco Gmbh & Co. Ohg | ABS-Regellogik mit Gelände-Modul |
DE102010007409B4 (de) * | 2010-02-10 | 2012-01-26 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zum Betreiben einer Bremsschlupfregelung eines Bremssystems eines Fahrzeugs |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2565181A1 (fr) * | 1984-05-31 | 1985-12-06 | Honda Motor Co Ltd | Systeme de freinage anti-blocage |
DE4018991A1 (de) * | 1989-06-14 | 1990-12-20 | Akebono Brake Ind | Antiblockiersteuersystem fuer motorfahrzeuge |
EP0475010A2 (de) * | 1990-09-03 | 1992-03-18 | WABCO GmbH | Regellogik für eine blockiergeschützte Fahrzeugbremsanlage |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2516780B2 (ja) * | 1987-04-17 | 1996-07-24 | 本田技研工業株式会社 | 車両走行時の悪路検出装置 |
DE3933652A1 (de) * | 1989-10-09 | 1991-04-11 | Bosch Gmbh Robert | Antiblockierregelsystem und antriebsschlupfregelsystem |
DE4034351A1 (de) * | 1990-10-29 | 1992-04-30 | Volkswagen Ag | Hydraulische bremsanlage fuer kraftfahrzeuge |
-
1995
- 1995-11-29 DE DE1995144445 patent/DE19544445B4/de not_active Expired - Lifetime
-
1996
- 1996-10-18 JP JP9520096A patent/JP2000500717A/ja active Pending
- 1996-10-18 WO PCT/EP1996/004531 patent/WO1997019841A1/de not_active Application Discontinuation
- 1996-10-18 EP EP96934742A patent/EP0861174A1/de not_active Ceased
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2565181A1 (fr) * | 1984-05-31 | 1985-12-06 | Honda Motor Co Ltd | Systeme de freinage anti-blocage |
DE4018991A1 (de) * | 1989-06-14 | 1990-12-20 | Akebono Brake Ind | Antiblockiersteuersystem fuer motorfahrzeuge |
EP0475010A2 (de) * | 1990-09-03 | 1992-03-18 | WABCO GmbH | Regellogik für eine blockiergeschützte Fahrzeugbremsanlage |
Also Published As
Publication number | Publication date |
---|---|
EP0861174A1 (de) | 1998-09-02 |
DE19544445B4 (de) | 2007-09-06 |
DE19544445A1 (de) | 1997-06-05 |
JP2000500717A (ja) | 2000-01-25 |
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