WO1999007588A1 - Procede permettant d'augmenter la stabilite de conduite d'un vehicule automobile - Google Patents

Procede permettant d'augmenter la stabilite de conduite d'un vehicule automobile Download PDF

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Publication number
WO1999007588A1
WO1999007588A1 PCT/EP1998/004788 EP9804788W WO9907588A1 WO 1999007588 A1 WO1999007588 A1 WO 1999007588A1 EP 9804788 W EP9804788 W EP 9804788W WO 9907588 A1 WO9907588 A1 WO 9907588A1
Authority
WO
WIPO (PCT)
Prior art keywords
curve
wheels
tendency
oversteer
wheel
Prior art date
Application number
PCT/EP1998/004788
Other languages
German (de)
English (en)
Inventor
Ivica Batistic
Holger Schmidt
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO1999007588A1 publication Critical patent/WO1999007588A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • 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
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/1819—Propulsion control with control means using analogue circuits, relays or mechanical links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • 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
    • B60T2270/303—Stability control with active acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed

Definitions

  • the invention relates to a method for increasing driving stability in the curve, for a motor vehicle which is equipped with an electronic traction control system and engine control and in which the rotational behavior of the individual wheels is measured, for forming a vehicle reference speed and other control variables and for cornering detection is evaluated.
  • Modern motor vehicles are increasingly being equipped with electronic control systems which, by intervening in the brake system in the event of excessive brake application (ABS) or timid brake application (brake assistant), by traction control (ASR) with the help of the brake system and by engine intervention, by driving stability control or vehicle dynamics control ( ASMS, FDR) etc. support the driver and thereby increase driving safety.
  • ABS excessive brake application
  • ASR traction control
  • ASMS vehicle dynamics control
  • control systems are sometimes very complex.
  • An elaborate sensor system and evaluation electronics are required to record and evaluate the controlled variables.
  • Great efforts are therefore made to reduce manufacturing costs. Efforts are made to get by with as few simple sensors as possible, for example by making better use of the information obtained with the help of the indispensable wheel sensors, which are required for all control systems and without additional sensors.
  • the present invention is based on the object of developing a method by means of which the driving stability of a vehicle which is equipped with traction control and engine control can be improved without any appreciable increase in production costs. In particular, measures against oversteering or understeering of the vehicle when cornering were required.
  • a stabilizing counter torque is generated by the method according to the invention.
  • Understeer which is typical of front-wheel drive vehicles, produces a torque that supports cornering.
  • the invention is therefore based on the knowledge that the oversteer or understeer tendency of the vehicle during cornering can be remedied by a relatively simple expansion of the traction control system, and the driving stability and driving safety of the vehicle can thereby be decisively increased.
  • the driving stability in a situation with oversteer behavior is significantly increased by an active, ie independent of a brake actuation, braking of the drive wheel on the outside of the curve and increasing the drive torque on the second wheel of the drive axle. If there is a tendency to understeer, the drive wheel on the inside of the curve is braked and the drive torque on the outside of the curve is increased.
  • the components and control options already present in a vehicle with traction control are used. All information is derived from the wheel turning behavior of the individual wheels. An oversteer or understeer tendency is recognized by logically linking and evaluating the turning behavior that the wheel sensors detect.
  • An indication of a tendency to understeer is given according to one embodiment of the invention if the wheels on the inside of the curve and the front wheel on the outside of the curve are unstable, while the rear wheel on the outside of the curve shows stable turning behavior,
  • the illustrated embodiment relates to a motor vehicle control system, which is seen both for anti-lock control (ABS) and traction control (ASR) before and also includes an engine control (AM) as part of the traction control.
  • the input control variables are obtained in a known manner with the aid of wheel speed sensors S1 to S4.
  • wheel speed sensors S1 to S4 After the signals have been processed in a processing circuit 1, further processable wheel speed signals vi to v are available.
  • a vehicle reference speed V REF is generated, which approximately reflects the vehicle speed.
  • circuits 7 and 8 Processing or evaluation of the information obtained in the evaluation circuit 3 in further circuits 7 and 8 is also required for the method according to the invention. of which the circuit 7 for curve detection (KVE) and the circuit 8 for determining an oversteer or understeer behavior or tendency are provided.
  • KVE curve detection
  • circuit 8 for determining an oversteer or understeer behavior or tendency are provided.
  • a cornering situation can be recognized, for example, from the different speed measurement values of the inside of the curve in comparison to the outside wheels. From cornering considerations (side hatching sums) and other known calculation methods, cornering can also be distinguished from straight-ahead driving. This takes place in circuit 7. There is an oversteer tendency during cornering, or it is taken as an indication of an oversteer tendency if the two wheels of the vehicle on the outside of the curve show stable turning behavior while the wheels on the inside of the curve are unstable at the same time. This instability can also be seen from the fact that the side slip sum of the wheels on the inside of the curve exceeds a predetermined threshold value.
  • understeering tendency or an indication of understeering is given if the wheels on the inside of the curve and the front wheel on the outside of the curve are unstable, while the rear wheel on the outside of the curve shows stable turning behavior.
  • processing or evaluation of the information obtained in the evaluation circuit 3 is also required in further circuits 7 and 8, of which the circuit 7 for curve detection (KVE) and the circuit 8 for determining an oversteer or understeer behavior or tendency are provided are.
  • KVE curve detection
  • a cornering situation can be recognized, for example, from the different speed measurement values of the inside of the curve in comparison to the outside wheels. From cornering considerations (side hatching sums) and other known calculation methods, a cornering can also be distinguished from a straight ahead. This is done in circuit 7.
  • understeering tendency or an indication of understeering is given if the wheels on the inside of the curve and the front wheel on the outside of the curve are unstable, while the rear wheel on the outside of the curve shows stable turning behavior.
  • this state exists for a certain minimum duration or a threshold value is exceeded, this information is passed on via a signal line 9 to the ABS / ASR logic 4, which is expanded by an additional circuit 10 separated by a broken line is.
  • this additional circuit 10 as a result of the detected oversteer or understeer in cooperation with the circuit 4, there is an increase in the drive torque of the drive motor 6 and a simultaneous one Activation of the brake system 5 initiated.
  • a cornering detection is already present in many control systems and is used to improve the control.
  • the method according to the invention thus leads to a significant increase in driving stability when cornering and load changes in the limit area and the oversteer or understeer tendencies caused thereby.
  • the counter-yaw moment or the supporting yaw moment is generated.
  • the control system actively intervenes via the engine control and the wheel brake.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé permettant d'augmenter la stabilité de conduite d'un véhicule automobile dans un virage. Ce procédé est destiné à un véhicule automobile doté d'un dispositif antipatinage électronique et d'une commande du moteur. En cas de détection d'une tendance à une surrégulation ou à une sousrégulation, on produit un couple d'embardée assistant la conduite en virage ou stabilisant et agissant en sens inverse de la surrégulation ou de la sous-régulation, en augmentant le couple et en freinant simultanément une roue motrice précise. Les informations de détection d'une situation de prise de virage et d'une tendance à une surrégulation ou à une sousrégulation sont dérivées du comportement de rotation des roues calculé par les capteurs de vitesse de rotation (S1 à S4).
PCT/EP1998/004788 1997-08-04 1998-07-31 Procede permettant d'augmenter la stabilite de conduite d'un vehicule automobile WO1999007588A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19733674.4 1997-08-04
DE19733674A DE19733674A1 (de) 1997-08-04 1997-08-04 Verfahren zur Erhöhung der Fahrstabilität eines Kraftfahrzeugs

Publications (1)

Publication Number Publication Date
WO1999007588A1 true WO1999007588A1 (fr) 1999-02-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1998/004788 WO1999007588A1 (fr) 1997-08-04 1998-07-31 Procede permettant d'augmenter la stabilite de conduite d'un vehicule automobile

Country Status (2)

Country Link
DE (1) DE19733674A1 (fr)
WO (1) WO1999007588A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
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US6383612B1 (en) 1998-06-19 2002-05-07 3M Innovative Properties Company Ink-drying agents for inkjet receptor media
US6537650B1 (en) 1998-06-19 2003-03-25 3M Innovative Properties Company Inkjet receptor medium having ink migration inhibitor and method of making and using same
US6703112B1 (en) 1998-06-19 2004-03-09 3M Innovative Properties Company Organometallic salts for inkjet receptor media
US20150032354A1 (en) * 2011-09-02 2015-01-29 Stephan Elter Temporary compensation of undesired deceleration due to braking interventions by esp functions

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DE19963747C2 (de) * 1999-12-30 2002-04-04 Bosch Gmbh Robert Verfahren und Vorrichtung zur Stabilisierung eines Fahrzeuges oder eines Fahrzeuggespannes bei Untersteuertendenz
US6974195B2 (en) 2000-01-13 2005-12-13 Continental Teves Ag & Co. Ohg Method for increasing the maneuverability or driving stability of a vehicle during cornering
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DE10112150A1 (de) 2001-03-14 2002-12-19 Wabco Gmbh & Co Ohg Verfahren und Vorrichtung zum Ausregeln der Kurvengeschwindigkeit eines Fahrzeugs
DE10132576B4 (de) * 2001-07-10 2006-06-29 Lucas Automotive Gmbh System zur Fahrdynamikregelung
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FR2881691B1 (fr) * 2005-02-10 2007-04-27 Peugeot Citroen Automobiles Sa Systeme de controle de la motricite d'un vehicule automobile
JP4626550B2 (ja) * 2006-03-24 2011-02-09 三菱自動車工業株式会社 車両の旋回挙動制御装置
DE102006026188B4 (de) * 2006-05-30 2008-02-28 Getrag Driveline Systems Gmbh Verfahren zum Verteilen von Antriebsmoment
DE102006031511A1 (de) * 2006-07-07 2008-01-17 Robert Bosch Gmbh Verfahren zum Kompensieren der Bremsverzögerung bei einer Fahrzeugregelung
FR2916717A3 (fr) * 2007-05-30 2008-12-05 Renault Sas Dispositif pour appliquer un moment de lacet a un vehicule automobile et vehicule automobile equipe d'un tel dispositif
JP4179391B1 (ja) * 2007-07-09 2008-11-12 三菱自動車工業株式会社 車両の旋回挙動制御装置
DE102007051590A1 (de) * 2007-10-29 2009-04-30 Robert Bosch Gmbh Verfahren zum Verteilen von Antriebs- oder Schleppmomenten auf die angetriebenen Räder eines Kfz
US8868281B2 (en) 2010-10-28 2014-10-21 GM Global Technology Operations LLC Understeer assessment for vehicles
DE102012010874A1 (de) 2012-06-01 2013-01-24 Daimler Ag Verfahren und Vorrichtung zur Beeinflussung der Fahrzeugquerdynamik eines Fahrzeugs
DE102012012475A1 (de) * 2012-06-22 2013-12-24 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren zum Betreiben einer Radschlupfregelungsvorrichtung mit kompensierten Radgeschwindigkeiten
DE102013211163B4 (de) 2013-06-14 2023-09-21 Thilo Frey Fahrstabilitätsoptimierung
KR20220046726A (ko) * 2020-10-07 2022-04-15 현대자동차주식회사 차량의 핸들링 제어 방법

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6383612B1 (en) 1998-06-19 2002-05-07 3M Innovative Properties Company Ink-drying agents for inkjet receptor media
US6537650B1 (en) 1998-06-19 2003-03-25 3M Innovative Properties Company Inkjet receptor medium having ink migration inhibitor and method of making and using same
US6703112B1 (en) 1998-06-19 2004-03-09 3M Innovative Properties Company Organometallic salts for inkjet receptor media
US20150032354A1 (en) * 2011-09-02 2015-01-29 Stephan Elter Temporary compensation of undesired deceleration due to braking interventions by esp functions
US9321459B2 (en) * 2011-09-02 2016-04-26 Robert Bosch Gmbh Temporary compensation of undesired deceleration due to braking interventions by ESP functions

Also Published As

Publication number Publication date
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