WO2001070549A1 - Verfahren zur bestimmung der querbeschleunigung eines kraftfahrzeugs - Google Patents
Verfahren zur bestimmung der querbeschleunigung eines kraftfahrzeugs Download PDFInfo
- Publication number
- WO2001070549A1 WO2001070549A1 PCT/DE2001/000364 DE0100364W WO0170549A1 WO 2001070549 A1 WO2001070549 A1 WO 2001070549A1 DE 0100364 W DE0100364 W DE 0100364W WO 0170549 A1 WO0170549 A1 WO 0170549A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- lateral acceleration
- motor vehicle
- load
- wheel
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- 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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/46—Steering frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/512—Pressure in suspension unit in spring
- B60G2400/5122—Fluid spring
- B60G2400/51222—Pneumatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/61—Load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/63—Location of the center of gravity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/64—Wheel forces, e.g. on hub, spindle or bearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
Definitions
- the invention is based on a method for determining the lateral acceleration of a motor vehicle according to the preamble of the main claim.
- the transverse acceleration is essentially based on signals from corresponding sensors, for example from a yaw rate sensor or acceleration sensor
- the steering angle and vehicle speed are determined.
- the center of gravity of the motor vehicle is estimated from the measured data.
- the determination of the lateral acceleration and the center of gravity serves in particular to regulate the driving dynamics and prevent tipping (for example driving dynamics control FDR, electronic stability program ESP).
- the corresponding devices require additional sensors to determine the lateral acceleration, which cause additional costs and in the tough use of a motor vehicle
- a device is known from DE 40 03 746 C2 which determines the travel of a wheel or an axle with air suspension for level control.
- the sensor delivers a weight-dependent signal that regulates the air pressure is used in the bellows of the air suspension.
- axle load-dependent braking force control ALB is possible.
- the inventive method for determining the lateral acceleration of a motor vehicle with the characterizing features of the main claim has the advantage that the lateral acceleration and the height of the center of gravity is only calculated from the signals of a wheel sensor and a load sensor. In principle, no further sensors are required.
- these sensors are already available for other functions in many motor vehicles, for example for regulating the chassis, braking functions, etc. Further sensors are therefore not necessary since the signals from the existing sensors can be used to calculate the lateral acceleration. This not only saves costs, but the control units also become more reliable in their function, since possible sources of error due to additional sensors are eliminated.
- Lateral acceleration can be calculated according to a simple formula that can be derived from known parameters such as the axle load, the vehicle mass, the height of the center of gravity and the longitudinal acceleration of the motor vehicle. Since, in contrast to cornering, there is no lateral acceleration when driving straight ahead, the center of gravity height can advantageously be determined for this driving state. Its value is required for the determination of the lateral acceleration.
- the signal of the load sensor on a wheel is used for determining the lateral acceleration.
- a simple distinction can be made as to whether the motor vehicle is driving straight ahead or in a curve, since the lateral acceleration only has an effect when cornering.
- the lateral acceleration can be determined from the yaw rate. This can be measured with a simple sensor or calculated from the wheel speed.
- the longitudinal acceleration is determined by simply differentiating the speed signal that the wheel sensor supplies.
- a resulting moment for the axle load shift can advantageously be calculated from the longitudinal acceleration.
- a favorable solution also consists in that the center of gravity height, in particular when driving straight ahead, is determined by means of long-term filtering.
- the long-term filtering eliminates short-term level fluctuations can be caused by changes in acceleration or road impacts, advantageously hidden.
- FIG. 1 shows a block diagram
- FIG. 2 shows a schematic illustration of a commercial vehicle in side and rear view
- FIG. 3 shows a flow chart
- FIG. 4 shows a diagram with a measurement curve for the dynamic axle load
- FIG. 5 shows a comparison diagram with calculated lateral acceleration values.
- FIG. 1 shows a controller 2 to which a load sensor 3, a wheel sensor 4 and, alternatively, others Sensors such as a pressure sensor 9, a spring travel sensor and / or a steering angle sensor 10 are connected on the input side.
- the controller 2 is connected on the output side to a valve 5, which is connected to a pressure vessel 6 on the input side via corresponding pressure lines.
- the valve 5 is connected on the input side to pressure lines of an air bellows 8 of an air suspension.
- An outlet 7 is provided on the outlet side of the valve 5.
- the valve 5 is known per se and is designed such that, depending on the control by the controller 2, it either lets the compressed air from the pressure vessel 6 into the air bellows 8 or conversely reduces the air pressure in the air bellows 8 via the outlet 7.
- the air pressure in the air bellows 8 can be measured with the pressure sensor 9, for example.
- the air pressure can advantageously be influenced as a function of the lateral acceleration or a level control.
- Figure 2 shows the side and rear view of a motor vehicle 1, which is shown as a truck. It shows the theoretical focus S, which in one
- Front axle raised. (Formula left part of Figure 2).
- the axle load is distributed according to the center of gravity according to the ratio 1 ⁇ to l v to the rear or front axle, taking into account the center distance l z .
- the indices mean h rear, v stands for front, x, y and z are the axis directions in the direction of travel, lengthways and crossways to the direction of travel or to the vertical axis.
- the index 0 denotes the mean.
- the right part of FIG. 2 shows the forces acting with a corresponding lateral acceleration.
- the wheels of an axle have the average distance e z .
- the flowchart in FIG. 3 shows the algorithm with which the controller 2 determines the lateral acceleration under the conditions and assumptions described below.
- Position 11 first measures the wheel speed or the vehicle speed. This is preferably done with the wheel sensor 4.
- the wheel sensor 4 is already present on the motor vehicle 1, which is used, for example, for speed measurement or a vehicle system
- Anti-lock braking system, vehicle dynamics controller or the like is required.
- the controller now calculates the acceleration in the longitudinal direction a xz from the wheel speed. Furthermore, the lateral acceleration ay Z is calculated in position 13. The calculation is done for such
- Position 14 determines the variable k x and k y . Finally, these are required to calculate the lateral acceleration in all driving situations (position 17). This basic process is explained in more detail below.
- the longitudinal acceleration a ⁇ Z generates a centrifugal force F ⁇ Z # F , the resulting moment of which causes an axle load distribution.
- the setup is based on the swirl set:
- the normal force acting on the rear left wheel is calculated from equations (3) and (4).
- the measured signal of the bellows pressure sensor is an image of the normal force acting on the wheel NJ- _ After the offset adjustment, which eliminates the static component of the measurement signal, the sensor measures the normal force difference ⁇ N ⁇ _.
- Equation (8) knows the longitudinal acceleration a X calculated from the vehicle speed and the bellows pressure signal albhl.
- the parameters k x and k y are still unknown. These can be determined as follows:
- the lateral acceleration can be determined from the yaw rate using the equation
- the parameters k x , ky can be identified in certain maneuvers in terms of stationarity and linearity.
- the yaw rate can either be measured or calculated from the wheel speed (possibly also with a reference model with the help of a steering angle sensor).
- the lateral acceleration a yZ can be determined in accordance with equation 10 from the axle load alb ⁇ i, the longitudinal acceleration a z and the parameters k and k y .
- the wheel speeds or the yaw rate can also be used.
- the steering angle sensor 10 is additionally used in an alternative embodiment of the invention.
- the center of gravity height h can be calculated on the assumption that the lateral acceleration a yZ is zero, which is the case when driving straight ahead. This results in the center of gravity:
- h z (2-l z -alb hl ) / (l z -a xZ )
- This value is filtered long-term as long as the vehicle is driving straight ahead. When cornering, this value is frozen and used to calculate the lateral acceleration a yZ according to equation (9).
- Another alternative to determining the center of gravity height h z can be done by estimation, taking into account both local road conditions and the vehicle speed. The lateral acceleration can then be calculated for a center of gravity height h z , it being assumed that strong steering maneuvers with good grip on the road at high speeds are dangerous for the vehicle to tip over. On the other hand, it is assumed at lower speeds that steering maneuvers do not lead to high lateral acceleration. In this case the center of gravity can be estimated accordingly.
- the middle range between low and high speeds is critical. From a preset speed, only the lateral acceleration is calculated. Below this threshold, the currently determined center of gravity is constantly compared with the long-term filtered value. If the deviation exceeds the predetermined threshold, the lateral acceleration is calculated instead of the estimate using the above-mentioned methods.
- this method When using this method in a device for preventing tipping, this has the advantage that additional sensors can be dispensed with.
- Figures 4 and 5 show diagrams in which the relationships are shown.
- 4 shows a diagram with the time course of the load sensor 3. In a special embodiment, this is the signal of the pressure sensor 9, which reproduces the pressure conditions in the air bellows of an air suspension.
- the load sensor 3 can be a suspension travel sensor which measures the wheel or axle load from the suspension travel on the wheel or a Axis determined. 4 shows the axle load alb hi , as can also be measured on the rear left wheel of an axle.
- the lateral acceleration is preferably calculated in a program that is already in the program
- Control unit 2 can be integrated. The functions are then taken over by the existing control unit 2.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/979,352 US6584396B2 (en) | 2000-03-22 | 2001-01-31 | Method for determining the lateral acceleration of a motor vehicle |
EP01913551A EP1185446A1 (de) | 2000-03-22 | 2001-01-31 | Verfahren zur bestimmung der querbeschleunigung eines kraftfahrzeugs |
JP2001568772A JP2003527998A (ja) | 2000-03-22 | 2001-01-31 | 自動車の横加速度を求めるための方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10014220.6 | 2000-03-22 | ||
DE10014220A DE10014220A1 (de) | 2000-03-22 | 2000-03-22 | Verfahren zur Bestimmung der Querbeschleunigung eines Kraftfahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001070549A1 true WO2001070549A1 (de) | 2001-09-27 |
Family
ID=7635905
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2001/000364 WO2001070549A1 (de) | 2000-03-22 | 2001-01-31 | Verfahren zur bestimmung der querbeschleunigung eines kraftfahrzeugs |
Country Status (5)
Country | Link |
---|---|
US (1) | US6584396B2 (de) |
EP (1) | EP1185446A1 (de) |
JP (1) | JP2003527998A (de) |
DE (1) | DE10014220A1 (de) |
WO (1) | WO2001070549A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2062794A1 (de) * | 2007-11-26 | 2009-05-27 | GM Global Technology Operations, Inc. | Verfahren zur Beurteilung der Spurhaltungsfähigkeit eines Fahrzeugs |
WO2010013019A3 (en) * | 2008-08-01 | 2010-04-01 | Haldex Brake Products Limited | Method of monitoring a vehicle and apparatus therefor |
WO2015188916A1 (de) * | 2014-06-11 | 2015-12-17 | Wabco Gmbh & | Verfahren zum betrieb eines elektronischen bremssystems |
CN105899421A (zh) * | 2014-01-15 | 2016-08-24 | Ntn株式会社 | 四轮独立驱动车的一轮失灵时车辆控制装置 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7433768B2 (en) * | 2002-07-31 | 2008-10-07 | Daimler Ag | Method for determining a steering-wheel torque |
DE10358335B3 (de) * | 2003-12-12 | 2005-05-25 | Siemens Ag | Bestimmung von dynamischen Achslasten und/oder Radlasten eines Radfahrzeuges |
DE102004056108A1 (de) * | 2004-02-20 | 2005-09-08 | Continental Teves Ag & Co. Ohg | Verfahren zur näherungsweisen Ermittlung der Schwerpunktlage eines Fahrzeuges |
DE102004064307B3 (de) | 2004-04-06 | 2019-10-02 | Man Truck & Bus Ag | Aufhängung für eine Fahrerkabine eines Nutzfahrzeuges und Verfahren zu deren Ansteuerung |
US7873459B2 (en) * | 2005-07-29 | 2011-01-18 | Ford Global Technologies, Llc | Load transfer adaptive traction control system |
WO2010082288A1 (ja) * | 2009-01-13 | 2010-07-22 | トヨタ自動車株式会社 | 車両状態推定装置 |
DE102010048260B4 (de) | 2010-10-12 | 2016-03-10 | Volkswagen Ag | Automatische Bestimmung eines Einfederwegs eines Rads eines Fahrzeugs |
JP6292742B2 (ja) * | 2011-12-21 | 2018-03-14 | 大和製衡株式会社 | 車両運転支援装置 |
DE102013012993A1 (de) | 2013-08-02 | 2015-02-05 | Wabco Gmbh | Verfahren zur Ermittlung der Achslast eines Fahrzeugs |
DE102013018967A1 (de) * | 2013-11-12 | 2015-05-13 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Prognose des Fahrweges eines Kraftfahrzeuges und Prognoseeinrichtung |
US9573591B2 (en) * | 2015-03-18 | 2017-02-21 | Continental Automotive Systems, Inc. | System and method utilizing detected load for vehicle handling |
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DE3932569A1 (de) * | 1989-09-29 | 1991-04-11 | Bosch Gmbh Robert | Bremsdruckregelsystem |
EP0529280A2 (de) * | 1991-08-24 | 1993-03-03 | Robert Bosch Gmbh | Bremsdruckregelanlage für ein Fahrzeug |
DE4314830A1 (de) * | 1993-05-05 | 1994-11-10 | Porsche Ag | Verfahren zur Bestimmung der Referenzgeschwindigkeit eines Fahrzeuges |
DE4003746C2 (de) | 1990-02-08 | 1998-07-09 | Wabco Gmbh | Einrichtung zur Erzeugung eines gewichtsabhängigen Signals bei einem Fahrzeug mit Luftfedern |
EP0943514A1 (de) * | 1998-03-20 | 1999-09-22 | DaimlerChrysler AG | Verfahren zur Fahrdynamik-Regelung an einem Strassenfahrzeug |
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US4761022A (en) * | 1986-03-08 | 1988-08-02 | Toyota Jidosha Kabushiki Kaisha | Suspension controller for improved turning |
DE3872798T2 (de) * | 1987-09-04 | 1993-03-04 | Toyota Motor Co Ltd | Elektronisch geregeltes fluidumaufhaengungssystem. |
US5270930A (en) * | 1990-11-30 | 1993-12-14 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Four wheel driving vehicle of a front/rear wheel differential operation limiting type |
JPH111111A (ja) * | 1997-06-11 | 1999-01-06 | Toyota Autom Loom Works Ltd | 産業車両の揺動制御装置 |
DE19751891A1 (de) * | 1997-11-22 | 1999-05-27 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Stabilisierung eines Fahrzeuges bei Kipptendenz |
JP3331939B2 (ja) * | 1997-12-26 | 2002-10-07 | 株式会社豊田中央研究所 | 車両状態量推定装置 |
JP3619388B2 (ja) * | 1999-04-12 | 2005-02-09 | 日野自動車株式会社 | 車両の重心高さの推定演算装置 |
-
2000
- 2000-03-22 DE DE10014220A patent/DE10014220A1/de not_active Withdrawn
-
2001
- 2001-01-31 JP JP2001568772A patent/JP2003527998A/ja active Pending
- 2001-01-31 EP EP01913551A patent/EP1185446A1/de not_active Withdrawn
- 2001-01-31 US US09/979,352 patent/US6584396B2/en not_active Expired - Fee Related
- 2001-01-31 WO PCT/DE2001/000364 patent/WO2001070549A1/de active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3932569A1 (de) * | 1989-09-29 | 1991-04-11 | Bosch Gmbh Robert | Bremsdruckregelsystem |
DE4003746C2 (de) | 1990-02-08 | 1998-07-09 | Wabco Gmbh | Einrichtung zur Erzeugung eines gewichtsabhängigen Signals bei einem Fahrzeug mit Luftfedern |
EP0529280A2 (de) * | 1991-08-24 | 1993-03-03 | Robert Bosch Gmbh | Bremsdruckregelanlage für ein Fahrzeug |
DE4314830A1 (de) * | 1993-05-05 | 1994-11-10 | Porsche Ag | Verfahren zur Bestimmung der Referenzgeschwindigkeit eines Fahrzeuges |
EP0943514A1 (de) * | 1998-03-20 | 1999-09-22 | DaimlerChrysler AG | Verfahren zur Fahrdynamik-Regelung an einem Strassenfahrzeug |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2062794A1 (de) * | 2007-11-26 | 2009-05-27 | GM Global Technology Operations, Inc. | Verfahren zur Beurteilung der Spurhaltungsfähigkeit eines Fahrzeugs |
WO2010013019A3 (en) * | 2008-08-01 | 2010-04-01 | Haldex Brake Products Limited | Method of monitoring a vehicle and apparatus therefor |
CN105899421A (zh) * | 2014-01-15 | 2016-08-24 | Ntn株式会社 | 四轮独立驱动车的一轮失灵时车辆控制装置 |
CN105899421B (zh) * | 2014-01-15 | 2018-01-23 | Ntn株式会社 | 四轮独立驱动车的一轮失灵时车辆控制装置 |
US10099559B2 (en) | 2014-01-15 | 2018-10-16 | Ntn Corporation | Vehicle control device of four-wheel independent drive vehicle for when one wheel is lost |
WO2015188916A1 (de) * | 2014-06-11 | 2015-12-17 | Wabco Gmbh & | Verfahren zum betrieb eines elektronischen bremssystems |
CN106232439A (zh) * | 2014-06-11 | 2016-12-14 | 威伯科有限公司 | 用于运行电子制动系统的方法 |
US10391986B2 (en) | 2014-06-11 | 2019-08-27 | Wabco Gmbh | Method for operating an electronic brake system |
CN106232439B (zh) * | 2014-06-11 | 2020-07-17 | 威伯科有限公司 | 用于运行电子制动系统的方法 |
Also Published As
Publication number | Publication date |
---|---|
US20020183914A1 (en) | 2002-12-05 |
JP2003527998A (ja) | 2003-09-24 |
EP1185446A1 (de) | 2002-03-13 |
DE10014220A1 (de) | 2001-09-27 |
US6584396B2 (en) | 2003-06-24 |
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