WO2004005093A1 - Verfahren zum erhöhen der stabilität eines fahrzeugs - Google Patents
Verfahren zum erhöhen der stabilität eines fahrzeugs Download PDFInfo
- Publication number
- WO2004005093A1 WO2004005093A1 PCT/EP2003/007188 EP0307188W WO2004005093A1 WO 2004005093 A1 WO2004005093 A1 WO 2004005093A1 EP 0307188 W EP0307188 W EP 0307188W WO 2004005093 A1 WO2004005093 A1 WO 2004005093A1
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- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- vehicle
- steering
- abs
- pressure
- Prior art date
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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
- B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
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- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
- B60T2260/024—Yawing moment compensation during mu-split braking
Definitions
- the invention relates to a device for increasing the stability of a vehicle and an ABS control method according to the preamble of claim 1 and claim 16.
- the invention relates to a method for stabilizing a vehicle and shortening the braking distance when braking on inhomogeneous road surfaces with different coefficients of friction.
- Vehicles without the ABS electronic braking system become unstable in such driving situations because the cornering power of the tires is lost when the wheels lock.
- the yaw moment created by the asymmetrical braking forces causes the vehicle to make rapid rotary movements around the vehicle's vertical axis to the high-friction side (skidding).
- skidding is prevented when braking in these critical situations, since the cornering power of the wheels is retained by avoiding locking wheels.
- the yaw moment around the vehicle's vertical axis, resulting from the asymmetrical braking forces is not compensated for by this, but the driver must compensate for this by counter-steering.
- the ABS control strategy is adapted in such driving situations, as shown in more detail in FIGS. 2a and 2b.
- the pressure build-up is controlled during braking on the front axle in such a way that the pressure shear (pressure difference) on the front axle between the wheel on the high and low friction side is built up only slowly.
- the yaw moment around the vehicle's high axis builds up slowly and the driver has enough time to countersteer (yaw moment limitation on the front axle).
- the rear axle is braked in such a way that only the brake pressure of the wheel on the low-friction side is permitted on both wheels (SelectLow).
- DE 40 38 079 AI it is known from DE 40 38 079 AI to at least partially compensate for the yaw moment which occurs in an ⁇ -split driving situation with an ABS control by setting or adjusting a compensation steering angle which is dependent on the difference between the separately regulated brake pressures steering angle predetermined by the driver is superimposed.
- the autonomous compensation steering angle (automatic counter-steering) improves the manageability of the vehicle when braking on inhomogeneous lanes. This requires an active steering system, ie a steering system with which an additional steering angle can be generated on the wheels actively and independently of the driver's specification. This is possible, for example, with superimposed steering or a steer-by-ire steering system.
- the invention has for its object to provide a method and a control that improve the controllability of the vehicle when braking on inhomogeneous lanes and make it more comfortable.
- this object is achieved in that, during the steering interventions, a disturbance variable compensation component is taken into account in the compensation steering angles, which is determined from the course of the track (or the driving state) of the vehicle.
- This disturbance variable compensation component is based on the yaw behavior of the vehicle and is part of a compensation steering angle requirement that requires at least two disturbance variable Compensation shares includes.
- the measurement data captured by sensors and logically linked and analyzed in a model of the vehicle dynamics control, in which data from a motor vehicle can be included, is used to generate the second disturbance variable compensation steering angle component for an active steering system (for example, a Superposition steering or Steer by Wire steering), the actuator of which is adjusted according to a compensation steering angle requirement and thus overlaps the steering angle specified by the driver.
- an active steering system for example, a Superposition steering or Steer by Wire steering
- Such active steering systems can be used on the front axle as well as on the rear axle or on all wheels of the vehicle.
- the method advantageously provides that a first disturbance variable compensation component of the compensation steering angle requirement A ⁇ is determined, taking into account braking force differences on the braked wheels, that the second disturbance variable compensation component is determined from the course of the track (or driving condition) of the vehicle and that the steering angle is modified depending on the disturbance compensation components.
- the first and second disturbance variable compensation components are preferably added in an adder and made available to the regulation or control system for steering correction of the steering angle specified by the driver.
- the second compensation component For the exact determination of the second compensation component, provision is made for the second compensation component to be determined in a device which has a reference vehicle model circuit in which the input variables required for determining the course of the path, such as vehicle speed, steering angle and, if necessary, coefficient of friction, are entered are determined which, based on a vehicle model in the reference vehicle model circuit that simulates the properties of the vehicle, determines a target value for a controlled variable and in which this target value is compared in a comparator with a measured value for this controlled variable, the second compensation component of the Steering angle ⁇ R is calculated from the comparison value (controlled variable). It is advantageous that the yaw rate and / or the lateral acceleration and / or the slip angle and / or their derivatives is determined as a setpoint for the controlled variable.
- the total compensation steering angle determined takes into account the movement of the vehicle in space (vehicle state), the compensation components being determined from two variables in such a way that the first compensation component ⁇ r5 z is determined , taking into account an interference yaw moment M determined on the basis of different braking forces, and the second Share A ⁇ R is determined taking into account the vehicle yaw behavior.
- the steering angle correction method is advantageously constructed such that the first compensation component is provided as a control component and the second compensation component as a control component.
- the torque M is determined by a logical combination of the steering angle of the steered wheels, the brake pressures and the turning behavior of the wheels.
- the braking forces become the controlled braking pressures
- the compensation gain K FFW (Ap, v) over the average brake pressure of the front axle which corresponds to the average available friction coefficient potential (average friction coefficient potential of the high and low friction side corresponds to the average brake pressure on the front axle when both front wheels are in ABS control and thus fully utilize the available coefficient of friction) and the vehicle speed, which is determined via the turning behavior of the wheels in the form of a vehicle reference speed.
- a further advantageous embodiment provides that the second compensation component A ⁇ R of the steering angle requirement A ⁇ is determined from a P component A ⁇ RP based on the yaw rate deviation A ⁇ and from a D component based on the yaw acceleration deviation A ⁇ .
- Yaw rate deviation A ⁇ takes place as a function of the vehicle speed, which is determined via the turning behavior of the wheels in the form of a vehicle reference speed.
- the method for increasing the driving stability of a vehicle has at least one ABS control function, advantageously an ABS control method in which a driving state caused by braking processes with different braking pressures or forces on the individual wheels is determined from the determined braking force difference is to be able to further develop according to one of claims 1 to 15 that by intervening in a controllable or regulable steering system of the vehicle, the instabilities resulting from the driving state are at least partially compensated.
- the ABS control function is advantageously part of an ESP control.
- the correction of the steering angle is permitted if the driving situation with different friction values ( ⁇ - split) has been recognized from side to side.
- the detection of a driving condition or course of the course with a difference between the vehicle movement and the driver's steering request caused by different braking pressures or forces is determined and steering intervention is permitted if at least the following conditions are met: • When driving straight ahead is detected: a) brake light switch signal is present and b) Brake light switch sensor OK and c) Braking detected by driver using THZ pressure and d) Forward driving detected and e) one of the following conditions is also fulfilled el) if one front wheel is in the ABS control and the other front wheel is not in the ABS control for a certain period of time, or e2) if both front wheels are in the first ABS cycle and the pressure difference on the front axle is greater than a limit value or e3) if both front wheels are in ABS control for a certain period of time and at least one front wheel has a certain minimum ABS locking pressure and one locking pressure exceeds the locking pressure of the
- At least one of the following requirements must be met so that the active steering interventions are ended: a) there is no Norderrad in the ABS control or b) there is no brake light switch signal or c) the brake light switch sensor broken or d) Driver braking is not recognized (no THZ pressure available).
- the ABS brake pressure control can preferably be modified in ⁇ -split driving situations by means of the ABS control method.
- the invention therefore provides an ABS brake pressure control with independent wheel control at least on one vehicle axle, in which, due to different friction values on the two sides of the vehicle, the deviation between the vehicle movement and the driver's steering request that occurs with the ABS control is at least partially compensated for by determining a compensation steering angle and the like Vehicle steering angle is preferably superimposed using the method according to one of claims 1 to 20.
- the ABS brake pressure control is characterized by the steps:
- a device provides a driving dynamics controller with at least one ABS function, preferably an ESP and ABS function, which are connected to a controller and / or a controller for steering correction, the device being designed such that it is a first determination unit for Determining the steering angle specified by the driver has a second determination unit for determining a disturbance variable compensation steering angle on the basis of braking forces and / or brake pressures or a disturbing yaw moment, a third device for determining a disturbance variable compensation steering angle on the basis of the vehicle yaw behavior and a logic unit for linking the first and second disturbance variable steering angle to a compensation steering angle request.
- ESP ESP and ABS function
- the division into disturbance variable compensation and superimposed driving state control has the major advantage that the disturbance variable response can be used to react immediately after the fault occurs, and not only when the vehicle threatens to become unstable.
- the superimposed driving state control improves the overall behavior of the vehicle, and faults that cannot be compensated for by the pure control system (disturbance variable compensation) are thereby corrected.
- the electronic braking system ABS can make better use of the coefficient of friction on the individual wheels.
- the ABS strategies on inhomogeneous lanes are adapted so that a much faster pressure build-up on the wheel on the high-friction side is permitted on the front axle and a pressure difference is permitted on the rear axle depending on the steering angle, the driving speed and the driving state variables (e.g. yaw rate or lateral acceleration) (softened SelectLow).
- Fig. 1 is a schematic representation of the asymmetrical braking forces of a vehicle and the resulting yawing moment in a ⁇ -split road
- 2a shows the pressure curve on the front axle with active yaw moment limitation according to the prior art
- 2b the pressure curve on the rear axle with active select low according to the prior art
- FIG. 3 is a block diagram showing the control system with feedforward control and superimposed driving state control
- Fig. 5 is a block diagram showing the superimposed driving state control
- Fig. 6 is a block diagram showing the determination of the pressure difference on the rear axle from the driving dynamics state of the vehicle
- Fig. 9 shows the ABS control cycle
- the determination of the wheel turning angle required for the automatic countersteering is carried out by a computing unit 30 (FIG. 3) which divides the wheel turning angle from two Parts (disturbance variable activation and superimposed driving state control).
- the first part is obtained with the aid of a feedforward control or interference compensation of the one caused by the asymmetrical braking forces during braking
- this interference yaw moment is essentially first estimated from the brake pressure information of the individual wheels in accordance with equations 1 and 2 on pages 28 and 29.
- the wheel brake pressures p t , the wheel speeds ⁇ l and the returned wheel turning angle ⁇ WHL are fed to the determination unit as input variables.
- an electronic brake system is required, which either estimates or observes the brake pressures on the individual wheels on a model basis, measures the brake pressures on the individual wheels with the aid of pressure sensors, or a Brake-by-Wire System (EHB / EMB), which based on these sizes.
- EHB / EMB Brake-by-Wire System
- the determination of the disturbing torque is based on the braking forces F x ⁇ on the wheels.
- the braking forces can, as in
- Equation 1 specified, essentially calculated from the brake pressure information, or systems can also be used which measure the braking forces directly (for example sidewall torsion sensor, wheel hubs, or the like).
- the wheel lock angle ⁇ z required to compensate for the disturbance yaw moment is calculated adaptively from the estimated disturbance torque (FIG. 4).
- the feedforward control acts purely from a cross-dynamic point of view Control. This means that the yaw is not ideally compensated for in all cases, since it overlaps with other faults and inaccuracies that are not recorded. Inaccuracies can occur, for example, due to changes in the brake disc friction value.
- a driving state control 50 is superimposed on the feedforward control.
- This driving state control system determines an additional wheel turning angle ⁇ R , depending on driving state variables such as the yaw rate and optionally also on the lateral acceleration or the swimming angle of the vehicle.
- the device 50 or the controller works adaptively, that is, depending on, for example, the vehicle speed v, the controller gains of the individual returned driving states are adapted.
- These two steering angle setting requests are preferably added in an adder 31 and set by the active steering system in the form of a wheel lock angle ⁇ WHL .
- the determination of the wheel lock angle ⁇ WHL required for stabilization and the setting of the wheel lock angle takes place much faster than an average driver can recognize the corresponding situation and react to it by counter-steering.
- This rapid reaction of the control system and the active steering system makes it possible to adapt the electronic braking system ABS in such a way that the potential for friction coefficient can be better exploited on the individual wheels (especially on the high friction side).
- the control strategies of the ABS are inhomogeneous Modified friction values:
- the yaw moment limitation on the front axle is greatly weakened, so that a large pressure difference quickly builds up on the front axle between the wheel on the high and the low friction side (high pressure build-up gradient on the high friction wheel).
- a yaw moment arises around the vertical axis of the vehicle almost simultaneously with the build-up of the pressure difference.
- the control system Based on the estimation of the disturbance yaw moment from the brake pressure information according to equations 1 and 2 (pages 28, 29) or with the help of systems directly measuring the tire forces, the control system counteracts the situation immediately before the driver can recognize the situation from the yaw behavior of the vehicle.
- the SelectLow is also modified in such a way that a pressure difference is also permitted on the rear axle.
- this pressure difference is not permitted at all times, but is limited depending on the steering angle, the vehicle speed and driving state variables (equation 3, FIG. 6). If the wheel steering angle points to the low-friction side and the vehicle turns in the direction of the low-friction side, a pressure difference is permitted on the rear axle. This results in a greater braking force on the high-friction side, the disturbing yaw moment increases and, at the same time, the lateral force potential decreases on this wheel. Due to the greater yaw moment, the rotation in the direction of the low friction side stops and the vehicle begins to turn in the direction of the high friction side.
- the steering angle correction system works as follows:
- the activation of the compensation steering angle correction method is released as a function of a detected ⁇ -split situation.
- the detection of a ⁇ -split driving situation is based on the following sensor signals:
- the ⁇ -Split driving situation is recognized as follows when driving straight ahead:
- BLS sensor Brake light switch (BLS) signal is present
- BLS sensor is OK
- braking by the driver is recognized by THZ pressure and forward driving has been recognized and at least one front wheel is in ABS control or if a front wheel is in after exceeding a first time-dependent limit value the ABS control and the other front wheel is not in the ABS control or if both front wheels are in the first ABS cycle and the pressure difference on the front axle is greater than a first pressure-dependent limit value or if both front wheels are in after a second time-dependent limit value has been exceeded the ABS control and at least one front wheel has an ABS locking pressure of greater than a second pressure-dependent limit value and the ABS locking pressure on one front wheel is at least x times the locking pressure of the other front wheel
- An already recognized ⁇ -split driving situation when driving straight ahead is reset as follows:
- the ABS blocking pressure on both front wheels is less than a pressure-dependent limit value or the ABS blocking pressure on one Front wheel is no longer at least x times the locking pressure of the other front wheel.
- the BLS signal is present and the BLS sensor is OK and the braking by the driver is recognized by THZ pressure and forward driving was recognized and and at least one front wheel is in the ABS control and
- the front wheel on the outside of the curve comes in ABS control ahead of the front wheel on the inside of the curve or if both north wheels are in ABS control for a longer period of time and at least one north wheel has an ABS blocking pressure of more than a limit pressure and the ABS blocking pressure on the inside of the curve Front wheel is at least x times the locking pressure of the front wheel on the outside of the curve
- the BLS sensor is OK and braking by the driver is recognized and the ABS locking pressure on both front wheels is less than a limit braking pressure or the ABS locking pressure on the front wheel on the inside of the curve for a longer period of time no longer at least x times the locking pressure of the front wheel on the outside of the curve.
- the steering angle requirement A ⁇ is based on two components: the first component A ⁇ z is determined by means of the disturbance variable compensation (control component), which compensates for the acting interference yaw moment. This tax component is based on the yaw behavior of the vehicle
- Control component A ⁇ R superimposed.
- the two components described below (tax and control components) are added together and result in the total steering requirement A ⁇
- a ⁇ A ⁇ z + A ⁇ R.
- the steering request is based on the following sensor signals: pressure sensor signals in each wheel brake circuit yaw rate signals
- Target steering angle signals "driver steering angle request” total steering angle signals on the wheel, wheel speed sensor signals, lateral acceleration signals, BLS signals
- Pressure sensor signals of the THZ ESP status (ESP interventions) ESP status (ice lane model reset)
- Control component (disturbance variable compensation)
- the control component of the steering request corresponds to a disturbance variable compensation. This is what acts as a disturbance variable
- Interference yaw moment M z which results from the asymmetrical braking forces, is largely compensated for by direct feedback via the compensation gain K FFW ⁇ P FA> V ).
- a ⁇ 7 K FFW ⁇ P FA > V) - M
- the disturbance yaw moment is estimated using the kinematic rigid body relationships from the braking forces of the individual wheels and the wheel steering angle of the front wheels.
- the static braking forces of the individual wheels are determined from the ABS blocking pressures of the individual wheels and the dimensions of the wheel brake. To calculate the dynamic braking forces, the wheel accelerations must also be taken into account. The determination of the ABS blocking pressures will be described later.
- the compensation gain factor K FFW , vj is adapted above the average brake pressure on the front axle. If both front wheels are in ABS control, the average brake pressure on the front axle corresponds to the total available friction coefficient potential (left and right vehicle sides averaged). This potential coefficient of friction in turn has an influence on the compensation steering angle to be set with the active steering.
- the steering component based on the disturbance variable compensation essentially depends on the wheel lock angle of the front wheels and on the ABS locking pressures, which, as described later, are essentially based on the pressure sensor signals and the ABS phase information (determined from the wheel speed sensor signals).
- the control component A ⁇ R of the steering request based on the yaw behavior of the vehicle consists of a P component A ⁇ RP
- a ⁇ R A ⁇ RtP + A ⁇ R ⁇ D.
- the control variable for the P component is the yaw rate deviation A ⁇ .
- the control law applies to the proportion of steering requirements resulting from the P component
- a ⁇ RtP K FB, P ⁇ v) - A ⁇ .
- the yaw rate deviation A ⁇ is defined as the difference between the measured yaw rate of the vehicle ⁇ ist and the reference yaw rate of the vehicle ⁇ ref (single-track model) determined from the driver's direction request (driver's steering angle including variable steering ratio) and thus results in
- a ⁇ ⁇ is - ⁇ ref .
- the yaw rate sensor is with a lateral acceleration sensor in a sensor cluster, in which both the yaw rate and the lateral acceleration are measured with redundant sensor elements.
- the reference yaw rate of the vehicle ⁇ is determined using a
- Single-track model of the vehicle determined.
- the most important input variables for the single-track model are the driver's direction (driver steering angle including variable steering ratio) and the vehicle speed.
- the current coefficient of friction of the road is determined with the help of the measured lateral acceleration and the resulting coefficient of friction potential is taken into account in the single-track model when calculating the reference yaw rate.
- Yaw rate deviation A ⁇ is adapted over the current vehicle speed v. Since the vehicle speed has a significant influence on the driving behavior of the vehicle, this is influenced by the controller gain and thus also by the Regulator closed loop of the vehicle is taken into account.
- the controlled variable for the D component is the yaw acceleration deviation A ⁇ .
- the control law applies to the proportion of steering requirements resulting from the D component
- the yaw acceleration deviation A ⁇ is determined by differentiating the yaw rate deviation A ⁇
- the yaw acceleration deviation is therefore based on the same signal sources as the yaw rate deviation: measured actual yaw rate of the vehicle ⁇ ist and the reference yaw rate of the vehicle ⁇ ref , which in turn depends directly on the driver's direction (driver steering angle including variable steering ratio components) and the vehicle speed. (Taking into account the current coefficient of friction of the road using measured lateral acceleration).
- Yaw acceleration deviation A ⁇ is adapted over the current vehicle speed. Since the vehicle speed has a significant influence on the driving behavior of the vehicle, this is reflected in the controller gain and thus also in closed control loop of the vehicle is taken into account.
- the control component ⁇ R is essentially based on the signal from the yaw rate sensor ⁇ , the driver's desired angle ⁇ DRV including variable steering ratio and the vehicle speed v, which in turn is based on the signals from the wheel speed sensors.
- ABS locking pressure is the brake pressure at the wheel at which the wheel tends to lock. If the coefficient of friction is almost homogeneous during ABS braking, the brake pressure on the wheel always oscillates around the ABS locking pressure.
- the ABS blocking pressure is determined individually for each wheel as follows:
- ABS phase 2 If the wheel is not in the first ABS control cycle and the ABS detects that the wheel is unstable and therefore tends to lock (ABS phase 2) and if the wheel in the control loop before it is not already in phase 2 or phase 4, then at least 85%, preferably 95% of the current wheel pressure is frozen as the ABS blocking pressure of the wheel. If the wheel is not in the ABS control or in the first ABS control cycle, the wheel pressure is used instead of the ABS locking pressure. If the wheel is in the ABS control but is not in phase 2, the maximum from the last ABS blocking pressure and 95% of the wheel pressure is used, since the wheel pressure can become greater than during the pressure build-up phases the last ABS blocking pressure.
- phase 2 If a wheel is unstable for longer than a period of time in the range between 90 and 110 ms (phase 2), the ABS blocking pressure is no longer used, but the wheel pressure, since the wheel pressure is far too far from the ABS due to the ongoing pressure reduction phase. Has removed blocking pressure.
- the wheel pressure is less than 50% of the last ABS locking pressure or if the brake slip of the wheel is more than 50%, the wheel pressure is also used (detection of a change in the coefficient of friction from high to low friction).
- ABS blocking pressure is not carried but kept constant.
- ABS blocking pressures are reset to zero.
- the determination of the blocking pressure is essentially based on the pressure sensor signals and the required ABS phase information is essentially based on the wheel speed sensors.
- ABS phase information and ABS control cycle
- Phase 1 no ABS control slightly pulsed pressure build-up from 0 th wheel dynamics
- Phase 5 wheel turns from 0 via unpulsed pressure build-up
- M 2 cos ( ⁇ ) [F FL s FL - F RR s RR .
- a pressure differential is permitted on the rear axle depending on the driving dynamics. The following applies to the permitted pressure difference on the rear axle
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/518,857 US20060100766A1 (en) | 2002-07-05 | 2003-04-04 | Method for increasing the stability of a motor vehicle |
JP2004518713A JP4942296B2 (ja) | 2002-07-05 | 2003-07-04 | 車両の安定性を高める方法 |
EP03762627A EP1521695B1 (de) | 2002-07-05 | 2003-07-04 | Verfahren zum erhöhen der stabilität eines fahrzeugs |
DE50313617T DE50313617D1 (de) | 2002-07-05 | 2003-07-04 | Verfahren zum erhöhen der stabilität eines fahrzeugs |
DE10392797T DE10392797D2 (de) | 2002-07-05 | 2003-07-04 | Verfahren zum Erhöhen der Stabilität eines Fahrzeugs |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10230259 | 2002-07-05 | ||
DE10230259.6 | 2002-07-05 | ||
DE10321385.6 | 2003-05-12 | ||
DE10321385 | 2003-05-12 |
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WO2004005093A1 true WO2004005093A1 (de) | 2004-01-15 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/EP2003/007188 WO2004005093A1 (de) | 2002-07-05 | 2003-07-04 | Verfahren zum erhöhen der stabilität eines fahrzeugs |
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US (1) | US20060100766A1 (de) |
EP (1) | EP1521695B1 (de) |
JP (1) | JP4942296B2 (de) |
DE (2) | DE10392797D2 (de) |
WO (1) | WO2004005093A1 (de) |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
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EP1424263A3 (de) * | 2002-11-26 | 2004-12-01 | Toyota Jidosha Kabushiki Kaisha | Steuereinrichtung einer Fahrzeuglenkung |
DE102004017845A1 (de) * | 2003-09-24 | 2005-04-28 | Continental Teves Ag & Co Ohg | Verfahren zum Ermitteln des Giermoments |
WO2005063538A1 (de) * | 2003-12-23 | 2005-07-14 | Continental Teves Ag & Co.Ohg | Verfahren zum regeln eines bremsdrucks bei inhomogenen fahrbahnreibwerten |
DE102004008045A1 (de) * | 2004-02-19 | 2005-09-08 | Bayerische Motoren Werke Ag | Verfahren zur Durchführung einer Giermomentenkompensation |
WO2005087562A1 (de) * | 2004-03-16 | 2005-09-22 | Continental Teves Ag & Co. Ohg | Verfahren zum erhöhen der fahrstabilität eines fahrzeugs |
JP2005255107A (ja) * | 2004-03-15 | 2005-09-22 | Toyota Motor Corp | 車輌の挙動制御装置 |
EP1516800B1 (de) * | 2003-09-17 | 2006-03-01 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Durchführung einer Giermomentenkompensation für ein Kraftfahrzeug |
WO2007031567A1 (de) * | 2005-09-14 | 2007-03-22 | Continental Teves Ag & Co. Ohg | Verfahren zum ermitteln einer inhomogenen fahrbahn |
JP2008110750A (ja) * | 2007-10-05 | 2008-05-15 | Toyota Motor Corp | 車輌の挙動制御装置 |
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DE102004017845A1 (de) * | 2003-09-24 | 2005-04-28 | Continental Teves Ag & Co Ohg | Verfahren zum Ermitteln des Giermoments |
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WO2005063538A1 (de) * | 2003-12-23 | 2005-07-14 | Continental Teves Ag & Co.Ohg | Verfahren zum regeln eines bremsdrucks bei inhomogenen fahrbahnreibwerten |
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DE102004008045A1 (de) * | 2004-02-19 | 2005-09-08 | Bayerische Motoren Werke Ag | Verfahren zur Durchführung einer Giermomentenkompensation |
WO2005087566A1 (en) * | 2004-03-15 | 2005-09-22 | Toyota Jidosha Kabushiki Kaisha | Vehicle stability control device |
JP2005255107A (ja) * | 2004-03-15 | 2005-09-22 | Toyota Motor Corp | 車輌の挙動制御装置 |
US7835837B2 (en) | 2004-03-15 | 2010-11-16 | Toyota Jidosha Kabushiki Kaisha | Vehicle stability control device |
KR100852370B1 (ko) * | 2004-03-15 | 2008-08-14 | 도요다 지도샤 가부시끼가이샤 | 차량의 안정성 제어 장치 |
US7567863B2 (en) | 2004-03-15 | 2009-07-28 | Toyota Jidosha Kabushiki Kaisha | Vehicle stability control device |
EP2251235A3 (de) * | 2004-03-15 | 2010-12-08 | Toyota Jidosha Kabushiki Kaisha | Stabilitätsregelungsvorrichtung für kraftfahrzeug |
WO2005087562A1 (de) * | 2004-03-16 | 2005-09-22 | Continental Teves Ag & Co. Ohg | Verfahren zum erhöhen der fahrstabilität eines fahrzeugs |
US7860623B2 (en) | 2004-03-16 | 2010-12-28 | Continental Teves Ag & Co. Ohg | Method for increasing the driving stability of a motor vehicle |
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DE102006050215B4 (de) | 2005-11-22 | 2019-05-09 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Stabilisieren eines Kraftfahrzeugs |
EP1889775A3 (de) * | 2006-08-17 | 2008-11-19 | ZF-Lenksysteme GmbH | Verfahren zur Lenkwinkelkorrektur in einer Hilfskraftlenkung für ein Kraftfahrzeug |
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JP2008110750A (ja) * | 2007-10-05 | 2008-05-15 | Toyota Motor Corp | 車輌の挙動制御装置 |
EP2281725A1 (de) * | 2008-05-23 | 2011-02-09 | Bosch Corporation | Fahrzeug-abs-steuergerät mit funktion zur automatischen kalibrierung von internen parametern |
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WO2009144066A1 (de) * | 2008-05-26 | 2009-12-03 | Robert Bosch Gmbh | Verfahren zum stabilisieren des fahrdynamischen verhaltens beim beschleunigen eines kraftfahrzeuges mit auf reibwert unterschedlicher fahrbahn befindlichen rädern und vorrichtung hierfür |
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EP2550188B1 (de) | 2010-03-24 | 2017-05-31 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Verfahren zum betreiben einer bremseinrichtung eines fahrzeugs mit an einer achse abhängig von einem lenkeingriff angepasster bremsdruckdifferenz |
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FR3028828A1 (fr) * | 2014-11-26 | 2016-05-27 | Jtekt Europe Sas | Detecteur de sous-virage et de survirage pour vehicule automobile |
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WO2021028455A1 (de) * | 2019-08-15 | 2021-02-18 | Wabco Europe Bvba | Verfahren zum steuern eines fahrzeuges bei einer bremsung mit seitenweise unterschiedlich wirkenden bremskräften, steuersystem und fahrzeug |
Also Published As
Publication number | Publication date |
---|---|
US20060100766A1 (en) | 2006-05-11 |
EP1521695A1 (de) | 2005-04-13 |
JP4942296B2 (ja) | 2012-05-30 |
JP2005532219A (ja) | 2005-10-27 |
DE10392797D2 (de) | 2005-07-07 |
EP1521695B1 (de) | 2011-04-13 |
DE50313617D1 (de) | 2011-05-26 |
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