WO2004045898A3 - Procede et dispositif de regulation de l'acceleration longitudinale d'un vehicule - Google Patents

Procede et dispositif de regulation de l'acceleration longitudinale d'un vehicule Download PDF

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Publication number
WO2004045898A3
WO2004045898A3 PCT/EP2003/050828 EP0350828W WO2004045898A3 WO 2004045898 A3 WO2004045898 A3 WO 2004045898A3 EP 0350828 W EP0350828 W EP 0350828W WO 2004045898 A3 WO2004045898 A3 WO 2004045898A3
Authority
WO
WIPO (PCT)
Prior art keywords
control system
deceleration
braking
driving engine
regulating
Prior art date
Application number
PCT/EP2003/050828
Other languages
German (de)
English (en)
Other versions
WO2004045898A2 (fr
Inventor
Mark Baijens
Thomas Sticher
Markus Ohly
Original Assignee
Continental Teves Ag & Co Ohg
Mark Baijens
Thomas Sticher
Markus Ohly
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co Ohg, Mark Baijens, Thomas Sticher, Markus Ohly filed Critical Continental Teves Ag & Co Ohg
Priority to DE10393696T priority Critical patent/DE10393696D2/de
Priority to JP2004552723A priority patent/JP2006506270A/ja
Priority to EP03818918A priority patent/EP1704065A2/fr
Publication of WO2004045898A2 publication Critical patent/WO2004045898A2/fr
Publication of WO2004045898A3 publication Critical patent/WO2004045898A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
    • B60K31/04—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/0011—Proportional Integral Differential [PID] controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0012—Feedforward or open loop systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0059—Signal noise suppression
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

L'invention concerne un procédé de régulation d'un système de freinage d'un véhicule, comportant une unité de régulation de la vitesse du véhicule permettant de régler automatiquement une accélération (a) du véhicule. Le procédé selon l'invention est caractérisé en ce qu'il consiste à choisir soit une intervention sur la régulation de freinage ou sur la commande du moteur d'entraînement, soit une intervention sur la régulation de freinage et sur la commande du moteur d'entraînement ; à produire, en cas d'intervention sur la régulation de freinage, une grandeur d'entrée de régulation de freinage, et à effectuer, sur la base de cette grandeur d'entrée de régulation de freinage, une régulation de la pression ou de la puissance de freinage afin d'obtenir l'accélération souhaitée du véhicule ; et, à produire, en cas d'intervention sur la commande du moteur d'entraînement, une grandeur d'entrée de commande du moteur d'entraînement, et à effectuer, sur la base de cette grandeur d'entrée de commande du moteur d'entraînement, une commande du moteur d'entraînement afin d'obtenir l'accélération souhaitée du véhicule.
PCT/EP2003/050828 2002-11-19 2003-11-13 Procede et dispositif de regulation de l'acceleration longitudinale d'un vehicule WO2004045898A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE10393696T DE10393696D2 (de) 2002-11-19 2003-11-13 Verfahren und Vorrichtung zur Regelung der Fahrzeuglängsbestätigung
JP2004552723A JP2006506270A (ja) 2002-11-19 2003-11-13 車両の縦方向の加速を制御するための方法及び装置
EP03818918A EP1704065A2 (fr) 2002-11-19 2003-11-13 Procede et dispositif de regulation de l'acceleration longitudinale d'un vehicule

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10253755 2002-11-19
DE10253753 2002-11-19
DE10253753.4 2002-11-19
DE10253755.0 2002-11-19

Publications (2)

Publication Number Publication Date
WO2004045898A2 WO2004045898A2 (fr) 2004-06-03
WO2004045898A3 true WO2004045898A3 (fr) 2004-07-22

Family

ID=32327500

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2003/050828 WO2004045898A2 (fr) 2002-11-19 2003-11-13 Procede et dispositif de regulation de l'acceleration longitudinale d'un vehicule

Country Status (4)

Country Link
EP (1) EP1704065A2 (fr)
JP (1) JP2006506270A (fr)
DE (1) DE10393696D2 (fr)
WO (1) WO2004045898A2 (fr)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005009146A1 (de) 2005-03-01 2006-09-21 Robert Bosch Gmbh Fahrerassistenzsystem mit mehreren Assistenzfunktionen
JP4241655B2 (ja) * 2005-04-06 2009-03-18 株式会社デンソー 車両制御装置
JP2007239606A (ja) * 2006-03-08 2007-09-20 Nissan Motor Co Ltd 車両の運動制御装置
JP4940803B2 (ja) * 2006-07-18 2012-05-30 トヨタ自動車株式会社 車両の制動力制御装置
KR100802695B1 (ko) * 2006-09-05 2008-02-12 현대자동차주식회사 Ａｂｓ 모듈을 이용한 비탈길 발진 보조 장치
JP4874192B2 (ja) 2007-08-10 2012-02-15 株式会社デンソー 車両用制御装置及び制御システム
JP5026188B2 (ja) 2007-08-10 2012-09-12 株式会社デンソー 車両用制御装置及び車両用制御システム
JP5031482B2 (ja) 2007-08-10 2012-09-19 株式会社デンソー 車両用停止制御装置及び制御システム
KR100921107B1 (ko) 2007-12-13 2009-10-08 현대자동차주식회사 적응순항제어 시스템 및 방법
JP5192306B2 (ja) 2008-07-14 2013-05-08 株式会社デンソー 車両制御装置
JP5113020B2 (ja) 2008-11-10 2013-01-09 株式会社デンソー 加速度制御装置及び加速度制御プログラム
JP5152003B2 (ja) 2009-01-19 2013-02-27 株式会社アドヴィックス 前後加速度制御装置
JP2011025720A (ja) 2009-07-21 2011-02-10 Denso Corp 加速度制御装置
KR101527614B1 (ko) * 2009-09-08 2015-06-09 현대모비스 주식회사 차량의 전자 제어 제동방법
JP5324367B2 (ja) 2009-09-16 2013-10-23 株式会社デンソー 制御要求調停装置
DE102009058154A1 (de) * 2009-12-12 2011-06-16 Wabco Gmbh Fahrerassistenzsystem für ein Fahrzeug, insbesondere Nutzfahrzeug, sowie Verfahren zum Steuern eines Bremssystems
CN102781752B (zh) 2010-09-29 2015-07-08 丰田自动车株式会社 车辆的控制装置
DE102018204139A1 (de) * 2018-03-19 2019-09-19 Robert Bosch Gmbh Verfahren zum Überwachen eines Fahrzeugs
JP7001007B2 (ja) 2018-07-05 2022-01-19 トヨタ自動車株式会社 車両制御装置
JP7135929B2 (ja) * 2019-02-20 2022-09-13 トヨタ自動車株式会社 制動力制御装置
DE102020200908A1 (de) 2020-01-27 2021-07-29 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Regeln einer kinematischen Größe eines Kraftfahrzeugs
CN112550267B (zh) * 2020-12-08 2022-06-28 武汉理工大学 一种车辆线控驱动与机械制动混合控制系统及其方法
CN113147734B (zh) * 2021-05-21 2022-09-16 吉林大学 一种基于驾驶员纵向加速意图的闭环控制方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0874149A2 (fr) * 1997-04-25 1998-10-28 Hitachi, Ltd. Dispositif et méthode de commande pour véhicule automobile
WO2001087662A1 (fr) * 2000-05-16 2001-11-22 Nissan Motor Co., Ltd. Systeme de regulation de la vitesse d'un vehicule
DE10118708A1 (de) * 2001-04-12 2002-10-17 Bosch Gmbh Robert Verfahren zur Regelung der Geschwindigkeit eines Kraftfahrzeugs

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0874149A2 (fr) * 1997-04-25 1998-10-28 Hitachi, Ltd. Dispositif et méthode de commande pour véhicule automobile
WO2001087662A1 (fr) * 2000-05-16 2001-11-22 Nissan Motor Co., Ltd. Systeme de regulation de la vitesse d'un vehicule
DE10118708A1 (de) * 2001-04-12 2002-10-17 Bosch Gmbh Robert Verfahren zur Regelung der Geschwindigkeit eines Kraftfahrzeugs

Also Published As

Publication number Publication date
DE10393696D2 (de) 2005-10-20
EP1704065A2 (fr) 2006-09-27
JP2006506270A (ja) 2006-02-23
WO2004045898A2 (fr) 2004-06-03

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