WO2003045753A1 - Verfahren zur verbesserung des regelverhaltens einer blockiergeschützten hydraulischen kraftfahrzeugbremsanlage - Google Patents
Verfahren zur verbesserung des regelverhaltens einer blockiergeschützten hydraulischen kraftfahrzeugbremsanlage Download PDFInfo
- Publication number
- WO2003045753A1 WO2003045753A1 PCT/EP2002/013000 EP0213000W WO03045753A1 WO 2003045753 A1 WO2003045753 A1 WO 2003045753A1 EP 0213000 W EP0213000 W EP 0213000W WO 03045753 A1 WO03045753 A1 WO 03045753A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tire
- acc
- accf
- pressure reduction
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
- B60T8/17636—Microprocessor-based systems
-
- 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
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
Definitions
- the invention relates to a method for improving the control behavior of an anti-lock hydraulic motor vehicle brake system in braking situations with active ABS control, with a control and regulating unit that receives information from at least one wheel sensor about the turning behavior of at least one vehicle wheel provided with a pneumatic tire, the ABS Regulation is carried out taking into account tire-specific properties.
- EP 0380511 B1 describes an electronic anti-lock braking system that describes the tire characteristics during a braking process considered.
- an evaluation of the wheel turning behavior distinguishes between tire types with a narrow maximum of the ⁇ slip curve and tire types with a wide maximum of the ⁇ slip curve, the tire type depending on the situation.
- pending e.g. B. can change due to weather influences, changes in coefficient of friction, cornering, etc., and that the gradient of the pressure reduction during an ABS control process compared to the pressure reduction gradient, which the control and regulating unit calculates in the standard case, is increased or decreased.
- the standard case is understood to be the ABS control process without taking into account the type of tire (narrow ' or wide maximum).
- the pressure reduction gradient is increased in the tire type with a narrow maximum when an instability limit is reached in comparison to the standard pressure reduction gradient, whereas in the tire type with a wide maximum the pressure reduction gradient is reduced in comparison to the standard pressure reduction gradient when the instability limit is reached.
- control and regulating unit determines the tire-type-dependent pressure reduction gradient by multiplying an amplification factor or a reduction factor by the standard pressure reduction gradient.
- the pneumatic tire is advantageously rated as a tire type with a wide maximum or as a tire type with a narrow maximum.
- an indicator for recognizing the tire-specific properties is determined from the information about the wheel turning behavior by forming the difference from a wheel acceleration signal and a filtered wheel acceleration signal according to a predetermined relationship.
- a current filtered wheel acceleration signal is determined from the wheel acceleration signal, from a filtered wheel acceleration signal determined in a previous step and from a dimensionless time factor according to a predetermined relationship.
- Fig. 4 shows a typical course of the wheel speed. a tire type with a wide maximum when entering the instability phase.
- FIG. 1 and FIG. 2 show so-called " ⁇ slip curves" (coefficient of friction or coefficient of friction depending on the wheel slip) of a vehicle tire.
- ⁇ slip curves coefficient of friction or coefficient of friction depending on the wheel slip
- FIG. 1 shows the typical slip profile for a type of tire with a narrow maximum, which has a pronounced tip in the region of the maximum. This property of the tire is reflected in the typical slippage courses during ABS braking. If the maximum coefficient of friction ⁇ A x of the ⁇ slip curve is exceeded, it becomes apparent due to the relatively steep drop in the coefficient of friction ⁇ with increasing slip, a very rapid increase in slip, the wheel tears off or tilts (see FIG. 3). This property poses problems for the electronic controller of an ABS brake system, because the effect is very similar to a so-called jump in the coefficient of friction in the direction of low friction.
- FIG. 2 shows the typical slip profile for a tire type with a wide maximum.
- the ⁇ slip curve does not drop so strongly after the maximum coefficient of friction ⁇ ax is exceeded, but is similarly high over a wide slip range.
- Fig. 3 shows a wheel turning behavior with a strong, sudden change in the wheel speed v Ra d_ S M compared to the vehicle speed v Fz .
- the vehicle wheel runs rapidly into an instability phase (“tipping” wheel) at a time t 0 .
- This wheel turning behavior is typical of the type of tire with a narrow maximum.
- FIG. 4 shows the typical course of the wheel speed in the case of the tire type with a wide maximum when it enters the instability phase at the time to.
- the wheel speed v Ra d_bM does not change so much in comparison to the vehicle speed v Fz .
- Pressure modulation brings the decisive advantage in utilizing potential.
- the procedure described below is equally applicable to tire types with narrow as well as wide maximum, because it analyzes the dynamics of the slip increase or decrease and changes the gain factor for the pressure reduction or pressure build-up.
- the method is equally suitable for ABS-only systems as well as for the systems in which the ABS is only a subset, such as. B. ESP.
- the method is explained below using exemplary numerical values:
- the individual wheel acceleration signal ACC derived from each wheel speed signal is part of today's electronic controller.
- the ACC signal will be fed to a filter that is defined with the following term:
- ACCF n ACCF n - ⁇ + [(ACC - ACCF n _ ⁇ ) / T]
- ACCF n , ACCF n -i filtered wheel acceleration signals ACC; Wheel acceleration signal T: dimensionless time factor
- the ACC_DIFF dimension is the acceleration due to gravity [g] or [m / s 2 ].
- the tire is identified as a tire type with a wide maximum for pending instability, and the originally calculated standard pressure reduction gradient is reduced by multiplication by a reduction factor k VR .
- the tire is identified as a type of tire with a narrow maximum for impending instability, and the originally calculated standard pressure reduction gradient is increased by multiplying by the gain factor k V ⁇ .
- the gain factor VE is calculated as
- the tire is identified as a type of tire with a wide maximum for reaching the stable range of the ⁇ slip curve, and the originally calculated standard pressure gradient by multiplying by the gain factor k VR reduced.
- the gain factor for reduction k VR is calculated as
- condition ACC_DIFF> threshold H2 3 g, i.e. high dynamic of the decrease in slip, the tire is identified as a type of tire with a narrow maximum for reaching the stable range of the ⁇ -slip curve, and the originally calculated standard pressure gradient by multiplying by the gain factor k V ⁇ increased.
- the gain factor k VE is calculated as B 1 + (1 - k / ACC DIFF)
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10295477T DE10295477B4 (de) | 2001-11-26 | 2002-11-20 | Verfahren zur Verbesserung des Regelverhaltens einer blockiergeschützten hydraulischen Kraftfahrzeugbremsanlage |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10157623 | 2001-11-26 | ||
DE10157623.4 | 2001-11-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003045753A1 true WO2003045753A1 (de) | 2003-06-05 |
Family
ID=7706794
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2002/013000 WO2003045753A1 (de) | 2001-11-26 | 2002-11-20 | Verfahren zur verbesserung des regelverhaltens einer blockiergeschützten hydraulischen kraftfahrzeugbremsanlage |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE10295477B4 (de) |
WO (1) | WO2003045753A1 (de) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3705983A1 (de) * | 1986-03-04 | 1987-09-10 | Volkswagen Ag | Einrichtung zum ueberwachen des ausnutzungsgrades des vorherschenden fahrbahnreibwertes beim bremsen und/oder beschleunigen eines kraftfahrzeuges |
DE3841977A1 (de) * | 1988-12-14 | 1990-08-02 | Bosch Gmbh Robert | Antiblockierregelsystem |
DE3936510A1 (de) * | 1989-11-02 | 1991-05-08 | Lucas Ind Plc | Verfahren zum steuern des bremsdruckes in einer blockiergeschuetzten fahrzeugbremsanlage |
US5257192A (en) * | 1989-07-14 | 1993-10-26 | Nippondenso Co., Ltd. | Brake pressure control system for motor vehicles |
US5947568A (en) * | 1996-04-26 | 1999-09-07 | Denso Corporation | Anti-skid control device using acceleration gradient |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3732348A1 (de) * | 1987-09-25 | 1989-04-13 | Messerschmitt Boelkow Blohm | Elektronisches antiblockiersystem |
DE4102301C1 (de) * | 1991-01-26 | 1992-06-11 | Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De |
-
2002
- 2002-11-20 WO PCT/EP2002/013000 patent/WO2003045753A1/de not_active Application Discontinuation
- 2002-11-20 DE DE10295477T patent/DE10295477B4/de not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3705983A1 (de) * | 1986-03-04 | 1987-09-10 | Volkswagen Ag | Einrichtung zum ueberwachen des ausnutzungsgrades des vorherschenden fahrbahnreibwertes beim bremsen und/oder beschleunigen eines kraftfahrzeuges |
DE3841977A1 (de) * | 1988-12-14 | 1990-08-02 | Bosch Gmbh Robert | Antiblockierregelsystem |
US5257192A (en) * | 1989-07-14 | 1993-10-26 | Nippondenso Co., Ltd. | Brake pressure control system for motor vehicles |
DE3936510A1 (de) * | 1989-11-02 | 1991-05-08 | Lucas Ind Plc | Verfahren zum steuern des bremsdruckes in einer blockiergeschuetzten fahrzeugbremsanlage |
US5947568A (en) * | 1996-04-26 | 1999-09-07 | Denso Corporation | Anti-skid control device using acceleration gradient |
Also Published As
Publication number | Publication date |
---|---|
DE10295477D2 (de) | 2004-11-11 |
DE10295477B4 (de) | 2012-12-27 |
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