WO2003068575A1 - Procede et dispositif pour surveiller et/ou modifier des pressions de freinage - Google Patents

Procede et dispositif pour surveiller et/ou modifier des pressions de freinage Download PDF

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Publication number
WO2003068575A1
WO2003068575A1 PCT/EP2003/001435 EP0301435W WO03068575A1 WO 2003068575 A1 WO2003068575 A1 WO 2003068575A1 EP 0301435 W EP0301435 W EP 0301435W WO 03068575 A1 WO03068575 A1 WO 03068575A1
Authority
WO
WIPO (PCT)
Prior art keywords
deceleration
delay
determining
pressure
vehacc
Prior art date
Application number
PCT/EP2003/001435
Other languages
German (de)
English (en)
Inventor
Ralph Gronau
Tobias Scheller
Ralf Reviol
Andreas Neu
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
Priority claimed from DE10227740A external-priority patent/DE10227740A1/de
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2003068575A1 publication Critical patent/WO2003068575A1/fr

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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/44—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems
    • B60T8/441—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters
    • B60T8/442—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters the booster being a fluid return pump, e.g. in combination with a brake pedal force booster
    • 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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/92—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action
    • B60T8/94—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action on a fluid pressure regulator

Definitions

  • the invention relates to a method for monitoring and / or modifying brake pressures in wheel brakes of a vehicle and a device according to the preamble of claim 9.
  • Vacuum brake boosters require a vacuum supply provided by the motor to support the pedal force to be applied by the driver.
  • a condition can be reached even at relatively low pedal forces, where a further increase in the force on the actuation unit is only possible by increasing the pedal force, since the vacuum brake booster has reached the maximum possible support force.
  • the state is called the modulation point of the amplifier.
  • Braking that takes place above the actuation point of the vacuum brake booster places high demands on the driver with regard to the pedal force to be applied. For this reason, brake systems (OHB-V) are increasingly being used, which the driver uses to build up hydraulic brake pressure support.
  • Brake systems of this type generally have a motor-pump unit and a hydraulic unit, which are controlled by electronic control, such as ESP, ABS, ASR and the like. can be controlled according to the desired braking force support.
  • the (analogized) isolation valves are closed and the hydraulic pump delivers brake fluid from the actuation unit, preferably a tandem master cylinder (THZ), into the wheel brakes.
  • the actuation unit preferably a tandem master cylinder (THZ)
  • TTZ tandem master cylinder
  • the additional pressure generated via the isolating valves must be comfortably reduced in terms of pedal feel and braking effect in the actuation unit.
  • the pressure difference between the actuation unit and the brake actuators is set via the analogized isolating valves, which are controlled by means of a current to be set.
  • the object of this invention is to monitor and, if necessary, correct the hydraulic effectiveness of the applied brake pressures. According to the invention, this object is achieved in that a generic method is carried out with the following steps:
  • a correction of the manipulated variables of the analog valves can advantageously be determined for a short time by the method according to the invention and thus effects can be reduced to an acceptable level, which can consist in that when the brake is released the pedal e.g. due to errors in the pressure model or the valve characteristics, “stick”, or braking occurs.
  • the pedal feeling is improved or the comfort increases.
  • the invention furthermore relates to designing a generic device such that the device has a first determination unit for determining the deceleration parameters, a comparison unit for comparing the deceleration specification with the actual deceleration, and a second determination unit for determining correction values for the brake pressures according to the specification of comparison.
  • the following steps are expedient for deceleration specification and the actual deceleration: determining the pressure of an actuating unit on the basis of measured values, determining the deceleration specification (Req_VEHACC) from the factor-weighted pressure of the actuation unit, determining the correction values from the difference between the deceleration specification and the actual deceleration.
  • the pressure of the actuation unit is weighted with an amplification factor.
  • the difference between the delay specification and the actual delay is filtered in filters.
  • the filters are preferably of the first or second order.
  • the difference is filtered with different filter time constants (F_Fast, F_Slow), preferably with cutoff frequencies of 1 Hz and 15 Hz.
  • the deviation of the deceleration specification from the actual deceleration is determined by the size of the difference (DIFF) from the difference (VEHACC-REQ_VEHACC) filtered by different filter time constants (F_Fast, F_Slow) and the actual one Delay formed.
  • BESTATIGUNGSKOPIE It is particularly advantageous that the deviation is compared with a threshold value and correction values for the brake pressures are formed in accordance with the comparison result.
  • the correction values are determined, in particular according to the current setting of an electromagnetically controllable valve, with reference to a formula or a characteristic curve.
  • the device which is part of a brake system, is advantageously developed such that a pressure sensor determines the pressure of the actuation unit, that the first determination unit has a correction stage for determining the deceleration specification (Req_VEHACC) from the pressure of the actuation unit weighted by a factor, and that the second determination unit has a subtractor for determining the correction values from the difference between the delay specification and the actual delay.
  • a pressure sensor determines the pressure of the actuation unit
  • the first determination unit has a correction stage for determining the deceleration specification (Req_VEHACC) from the pressure of the actuation unit weighted by a factor
  • Req_VEHACC deceleration specification
  • Fig. 1 shows an embodiment of the invention
  • the monitoring is carried out via a similarity analysis of the vehicle deceleration specified by the driver via the brake pedal and the vehicle reaction, preferably the actual vehicle deceleration.
  • the situation is considered in which the driver is supported by active hydraulic brake pressure build-up (OHB-V).
  • the deceleration specification initiated by the driver is determined from the pressure of the actuation unit measured with a pressure sensor, which is multiplied by a gain factor.
  • the gain factor results from the hydraulic brake force boost of the driver's specification.
  • the increased pressure of the actuation unit is the requested pressure (Req_Press).
  • the actuating unit can be a tandem master cylinder (THZ), for example. This value 10 is multiplied by a factor A in a multiplier 11, so that a delay specification (Req_VEHACC) is considered
  • the second signal 13 which is used for the comparison in the comparator 12, is the vehicle deceleration signal (VEHACC). This can be determined based on a model or with a
  • FIG. 2.1 shows the signal curve over a short period of time, which represents a situation typical for the formation of the delay signals.
  • the requested pressure is labeled Req_Press, the deceleration specification with Req_VEHACC and the vehicle deceleration signal with VEACC.
  • Typical situations can occur when the brake is released, for example if the pedal sticks, for example due to errors in the pressure model or the valve characteristics, or automatic braking occurs.
  • the difference 14 of VEHACC and Req_VEHACC is formed in the subtractor 12. This variable is fed to two filters 15, 16, for example low-pass filters, with different filter time constants (F_Fast, F_Slow).
  • the filters are preferably of the first or second order, the cutoff frequencies are 1 Hz or 15 Hz. In this way, as shown in FIG. 2.2, a relatively slowly changing differential signal 14 SF and a differential signal 14 FF which also reflects the faster changes are produced. If the difference 17 from F_Fast-F_Slow is now formed in a further subtractor 18, the deviation of the vehicle reaction (VEHACC) from the driver specification (Req_ VEHACC) can be detected from the size of the difference 17 (DIFF). The size of the deviation 17 is filtered in a low-pass filter 22. The signal 17 and the filtered signal 17F are shown in FIG. 2.3. The threshold value S is determined by the input signal 17F subtracted, block 19. The output signal 19A is limited to values> 0.
  • the output signal 21 will be used to correct the pressure model and thus ultimately the current setting of the analog isolating valve.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé pour surveiller et/ou modifier des pressions de freinage dans les freins sur roues d'un véhicule. Afin de surveiller et, le cas échéant, de corriger la puissance hydraulique des pressions de freinage induites, le procédé comprend les opérations suivantes: déterminer la prescription de décélération (Reg_VEHACC), comparer la prescription de décélération (Reg_VEHACC) avec la décélération réelle (VEHACC), et déterminer des valeurs de correction pour les pressions de freinage en fonction de la comparaison, la différence (DIFF) entre la prescription de décélération (Reg_VEHACC) et la décélération réelle (VEHACC) étant filtrée dans des filtres (15,16) à constantes de temps de filtrage différentes.
PCT/EP2003/001435 2002-02-14 2003-02-13 Procede et dispositif pour surveiller et/ou modifier des pressions de freinage WO2003068575A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10206343 2002-02-14
DE10206343.5 2002-02-14
DE10227740A DE10227740A1 (de) 2002-02-14 2002-06-21 Verfahren und Vorrichtung zum Überwachen und/oder Modifizieren von Bremsdrücken
DE10227740.0 2002-06-21

Publications (1)

Publication Number Publication Date
WO2003068575A1 true WO2003068575A1 (fr) 2003-08-21

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ID=27735677

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2003/001435 WO2003068575A1 (fr) 2002-02-14 2003-02-13 Procede et dispositif pour surveiller et/ou modifier des pressions de freinage

Country Status (1)

Country Link
WO (1) WO2003068575A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011007510A1 (de) * 2011-04-15 2012-10-18 Continental Teves Ag & Co. Ohg Verfahren zur automatischen Geschwindigkeitsregelung für ein Kraftfahrzeug
EP2529987A1 (fr) * 2010-01-25 2012-12-05 Toyota Jidosha Kabushiki Kaisha Dispositif de commande de freinage et dispositif de freinage
DE102011084781A1 (de) * 2011-10-19 2013-04-25 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Sicherstellen der Bremswirkung von in einem Fahrzeug angebrachten Bremsaktuatoren
US9821781B1 (en) 2016-09-30 2017-11-21 Ford Global Technologies, Llc Methods and apparatus to control braking of a vehicle during low deceleration operations

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2430448A1 (de) * 1974-06-25 1976-01-15 Teldix Gmbh Fahrzeugbremsanlage
US4712839A (en) * 1985-05-30 1987-12-15 Lucas Industries Public Limited Company Vehicle braking system
US4787683A (en) * 1987-09-11 1988-11-29 Allied-Signal Inc. Electro-pneumatic braking system with deceleration control
DE19526659A1 (de) * 1995-07-21 1997-01-23 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung der Bremsanlage eines Fahrzeugs
DE19616732A1 (de) * 1996-04-26 1997-10-30 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung der Bremsanlage eines Fahrzeugs
DE19743960A1 (de) * 1997-10-04 1999-04-08 Bayerische Motoren Werke Ag Bremsanlage für Kraftfahrzeuge
EP1067032A2 (fr) * 1996-12-27 2001-01-10 Denso Corporation Système de freinage pour véhicule

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2430448A1 (de) * 1974-06-25 1976-01-15 Teldix Gmbh Fahrzeugbremsanlage
US4712839A (en) * 1985-05-30 1987-12-15 Lucas Industries Public Limited Company Vehicle braking system
US4787683A (en) * 1987-09-11 1988-11-29 Allied-Signal Inc. Electro-pneumatic braking system with deceleration control
DE19526659A1 (de) * 1995-07-21 1997-01-23 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung der Bremsanlage eines Fahrzeugs
DE19616732A1 (de) * 1996-04-26 1997-10-30 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung der Bremsanlage eines Fahrzeugs
EP1067032A2 (fr) * 1996-12-27 2001-01-10 Denso Corporation Système de freinage pour véhicule
DE19743960A1 (de) * 1997-10-04 1999-04-08 Bayerische Motoren Werke Ag Bremsanlage für Kraftfahrzeuge

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2529987A1 (fr) * 2010-01-25 2012-12-05 Toyota Jidosha Kabushiki Kaisha Dispositif de commande de freinage et dispositif de freinage
EP2529987A4 (fr) * 2010-01-25 2013-11-20 Toyota Motor Co Ltd Dispositif de commande de freinage et dispositif de freinage
US8855882B2 (en) 2010-01-25 2014-10-07 Toyota Jidosha Kabushiki Kaisha Brake control device and braking device
DE102011007510A1 (de) * 2011-04-15 2012-10-18 Continental Teves Ag & Co. Ohg Verfahren zur automatischen Geschwindigkeitsregelung für ein Kraftfahrzeug
DE102011007510B4 (de) 2011-04-15 2022-11-03 Continental Automotive Technologies GmbH Verfahren zur automatischen Geschwindigkeitsregelung für ein Kraftfahrzeug
DE102011084781A1 (de) * 2011-10-19 2013-04-25 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Sicherstellen der Bremswirkung von in einem Fahrzeug angebrachten Bremsaktuatoren
US9821781B1 (en) 2016-09-30 2017-11-21 Ford Global Technologies, Llc Methods and apparatus to control braking of a vehicle during low deceleration operations

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