WO2005005177A3 - Lenkbares fahrzeug und verfahren zur beeinflussung der fahrtrichtung - Google Patents

Lenkbares fahrzeug und verfahren zur beeinflussung der fahrtrichtung Download PDF

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Publication number
WO2005005177A3
WO2005005177A3 PCT/EP2004/007401 EP2004007401W WO2005005177A3 WO 2005005177 A3 WO2005005177 A3 WO 2005005177A3 EP 2004007401 W EP2004007401 W EP 2004007401W WO 2005005177 A3 WO2005005177 A3 WO 2005005177A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
travel
vehicle wheel
influencing
steerable vehicle
Prior art date
Application number
PCT/EP2004/007401
Other languages
English (en)
French (fr)
Other versions
WO2005005177A2 (de
Inventor
Dieter Ammon
Guenther Maeckle
Markus Raab
Thomas Schirle
Original Assignee
Daimler Chrysler Ag
Dieter Ammon
Guenther Maeckle
Markus Raab
Thomas Schirle
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 Daimler Chrysler Ag, Dieter Ammon, Guenther Maeckle, Markus Raab, Thomas Schirle filed Critical Daimler Chrysler Ag
Publication of WO2005005177A2 publication Critical patent/WO2005005177A2/de
Publication of WO2005005177A3 publication Critical patent/WO2005005177A3/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D17/00—Means on vehicles for adjusting camber, castor, or toe-in
    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/007—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces means for adjusting the wheel inclination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/001—Suspension arms, e.g. constructional features
    • B60G7/003—Suspension arms, e.g. constructional features of adjustable length
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/008—Attaching arms to unsprung part of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/146—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by comprising means for steering by acting on the suspension system, e.g. on the mountings of the suspension arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/04—Steering deflectable wheels not otherwise provided for combined with means for inwardly inclining wheels on bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/445—Self-steered wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/46—Indexing codes relating to the wheels in the suspensions camber angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/14—Mounting of suspension arms
    • B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/62—Adjustable continuously, e.g. during driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/50—Constructional features of wheel supports or knuckles, e.g. steering knuckles, spindle attachments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/02—Trucks; Load vehicles
    • B60G2300/026—Heavy duty trucks
    • B60G2300/0262—Multi-axle trucks
    • 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
    • B60G2400/1042—Acceleration; Deceleration lateral or transversal with regard to vehicle using at least two sensors
    • 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
    • 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
    • B60G2400/64—Wheel forces, e.g. on hub, spindle or bearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1877—Adaptive Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/70—Computer memory; Data storage, e.g. maps for adaptive control
    • 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
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/915—Suspension load distribution
    • 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
    • B60G2800/90—System Controller type
    • B60G2800/96—ASC - Assisted or power Steering control
    • 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
    • B60G2800/90—System Controller type
    • B60G2800/96—ASC - Assisted or power Steering control
    • B60G2800/962—Four-wheel steering

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

Die Erfindung betrifft ein mehrspuriges lenkbares Fahrzeug mit einem an einem Radträger (20) drehbeweglich gelagerten Fahrzeugrad (1) und einer Lenkeinrichtung, mittels derer eine Fahrtrichtung des Fahrzeugs über eine durch einen Aktor (25) initiierte Änderung des Sturzwinkels Ϝ des Fahrzeugrades (1) veränderbar ist. Erfindungsgemäss ist eine Regeleinrichtung (50) vorhanden, die einen Datenspeicher umfasst, in dem ein Kennfeld abgelegt ist, welches eine Seitenkraft am Fahrzeugrad (1) in Abhängigkeit vom Sturzwinkel Ϝ des Fahrzeugrades (1) beschreibt.
PCT/EP2004/007401 2003-07-09 2004-07-07 Lenkbares fahrzeug und verfahren zur beeinflussung der fahrtrichtung WO2005005177A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10330894.6 2003-07-09
DE2003130894 DE10330894A1 (de) 2003-07-09 2003-07-09 Lenkbares Fahrzeug und Verfahren zur Beeinflussung der Fahrtrichtung

Publications (2)

Publication Number Publication Date
WO2005005177A2 WO2005005177A2 (de) 2005-01-20
WO2005005177A3 true WO2005005177A3 (de) 2005-02-10

Family

ID=34041703

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/007401 WO2005005177A2 (de) 2003-07-09 2004-07-07 Lenkbares fahrzeug und verfahren zur beeinflussung der fahrtrichtung

Country Status (2)

Country Link
DE (1) DE10330894A1 (de)
WO (1) WO2005005177A2 (de)

Families Citing this family (31)

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CA2606915A1 (en) * 2005-05-05 2006-11-16 Purdue Research Foundation Vehicle with variable wheel camber
DE102005037973A1 (de) * 2005-08-11 2007-02-15 Schaeffler Kg Einrichtung zur Verstellung des Radsturzes oder der Vorspur
DE102006016763A1 (de) * 2006-04-10 2007-10-11 GM Global Technology Operations, Inc., Detroit Verstellbare Radaufhängung eines Kraftfahrzeugs
JP4868133B2 (ja) * 2006-06-30 2012-02-01 株式会社エクォス・リサーチ トウ角・キャンバー角可変装置
CN101479124B (zh) * 2006-06-30 2011-01-26 爱考斯研究株式会社 车辆用控制装置
JP4569560B2 (ja) * 2006-06-30 2010-10-27 株式会社エクォス・リサーチ 車両用制御装置
DE102006059778B3 (de) * 2006-12-15 2008-07-10 Zf Friedrichshafen Ag Radaufhängung
JP4915268B2 (ja) * 2006-12-22 2012-04-11 株式会社エクォス・リサーチ 車両用制御装置
JP4848994B2 (ja) * 2006-12-22 2011-12-28 株式会社エクォス・リサーチ 車両用制御装置
US8050819B2 (en) * 2007-02-16 2011-11-01 Honda Motor Co., Ltd. Alignment changing control device and fuel consumption management device
JP5109009B2 (ja) * 2007-03-27 2012-12-26 株式会社エクォス・リサーチ 車両用制御装置
JP5056303B2 (ja) * 2007-09-20 2012-10-24 株式会社エクォス・リサーチ 制御装置
JP5056306B2 (ja) * 2007-09-21 2012-10-24 株式会社エクォス・リサーチ 制御装置
DE102007054823A1 (de) * 2007-11-16 2009-05-20 Audi Ag Verstellvorrichtung für Radaufhängungen
JP4998251B2 (ja) * 2007-12-25 2012-08-15 株式会社エクォス・リサーチ 車両
US20100320706A1 (en) * 2008-02-07 2010-12-23 Equos Research Co., Ltd. Control device and vehicle
DE102008000472A1 (de) * 2008-02-29 2009-09-24 Zf Friedrichshafen Ag Radaufhängung für ein Fahrzeug
DE102009032590A1 (de) * 2009-07-10 2011-02-17 GM Global Technology Operations, Inc., Detroit Fahrzeug mit einer Vorrichtung zur Verstellung eines Sturzwinkels
DE102009033105B4 (de) * 2009-07-15 2021-03-25 Audi Ag Verstellvorrichtung für Radaufhängungen von Kraftfahrzeugen
DE102010018135A1 (de) * 2010-04-24 2011-10-27 Audi Ag Verfahren zum Betreiben einer mechatronischen Fahrwerkeinrichtung eines Kraftfahrzeugs
ITBO20120004A1 (it) * 2012-01-05 2013-07-06 Ferrari Spa Metodo di controllo degli angoli di convergenza e campanatura delle sospensioni posteriori attive di una vettura
JP5738234B2 (ja) * 2012-05-30 2015-06-17 本田技研工業株式会社 後輪トー角可変車両
DE102013002710A1 (de) 2013-02-16 2014-08-21 Audi Ag Radaufhängung für ein Kraftfahrzeug
DE102013012124B4 (de) * 2013-07-19 2021-11-11 Audi Ag Betriebsverfahren für ein aktives Fahrwerk eines Kraftfahrzeugs
DE102014003220B4 (de) * 2014-03-05 2019-02-07 Audi Ag Radaufhängung für ein Kraftfahrzeug
DE102015005975B4 (de) 2015-05-08 2019-01-31 Audi Ag Verfahren zum Betrieb eines Querführungssystems eines Kraftfahrzeugs und Kraftfahrzeug
DE102016001592A1 (de) * 2016-02-11 2017-08-17 Audi Ag Verfahren zur Beeinflussung der Fahrtrichtung von Kraftfahrzeugen
EP3562731A4 (de) * 2016-12-30 2020-11-25 Axel Michael Sigmar Dynamische kammeranpassung
DE102017208554A1 (de) 2017-05-19 2018-11-22 Bayerische Motoren Werke Aktiengesellschaft Radaufhängung für ein zumindest geringfügig aktiv lenkbares Hinterrad eines zweispurigen Fahrzeugs, Achse mit einer Radaufhängung und Fahrzeug mit einer Radaufhängung
CN107826029A (zh) * 2017-10-27 2018-03-23 合肥正浩机械科技有限公司 一种管片重型运输车
CN109455245A (zh) * 2018-12-27 2019-03-12 北京史河科技有限公司 一种控向组件及车架系统

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JPS62125952A (ja) * 1985-11-28 1987-06-08 Isuzu Motors Ltd 全輪独立操舵装置
US4700972A (en) * 1985-06-20 1987-10-20 Young Colin G Computerized, central hydraulic, electronic variable suspension
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WO1992000201A1 (de) * 1990-06-28 1992-01-09 Dr.Ing.H.C.F. Porsche Aktiengesellschaft Vorrichtung zur aktiven verstellung eines kraftfahrzeugrades
JPH0532113A (ja) * 1991-07-31 1993-02-09 Nissan Motor Co Ltd 車両のキヤンバ角制御装置
JPH0585133A (ja) * 1991-04-17 1993-04-06 Nissan Motor Co Ltd 車両用懸架装置
WO1999054186A1 (en) * 1998-04-17 1999-10-28 Francesco Falchi An automatic device for the reduction of the centrifugal force effects onto cornering vehicles
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JP2001130427A (ja) * 1999-08-23 2001-05-15 Koyo Seiko Co Ltd 車両の操舵装置
US6279920B1 (en) * 1996-11-21 2001-08-28 Khalid M. Choudhery Variable camber suspension system
FR2833233A1 (fr) * 2001-12-12 2003-06-13 Michelin Soc Tech Dispositif de suspension d'une roue

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JPS6015213A (ja) * 1983-07-06 1985-01-25 Nissan Motor Co Ltd 懸架装置
US4964481A (en) * 1984-01-13 1990-10-23 Honda Giken Kogyo Kabushiki Kaisha Steering system for vehicles
US4700972A (en) * 1985-06-20 1987-10-20 Young Colin G Computerized, central hydraulic, electronic variable suspension
JPS62125952A (ja) * 1985-11-28 1987-06-08 Isuzu Motors Ltd 全輪独立操舵装置
WO1992000201A1 (de) * 1990-06-28 1992-01-09 Dr.Ing.H.C.F. Porsche Aktiengesellschaft Vorrichtung zur aktiven verstellung eines kraftfahrzeugrades
JPH0585133A (ja) * 1991-04-17 1993-04-06 Nissan Motor Co Ltd 車両用懸架装置
JPH0532113A (ja) * 1991-07-31 1993-02-09 Nissan Motor Co Ltd 車両のキヤンバ角制御装置
US6279920B1 (en) * 1996-11-21 2001-08-28 Khalid M. Choudhery Variable camber suspension system
WO1999054186A1 (en) * 1998-04-17 1999-10-28 Francesco Falchi An automatic device for the reduction of the centrifugal force effects onto cornering vehicles
DE19836440A1 (de) * 1998-08-12 2000-02-24 Daimler Chrysler Ag Radaufhängung für Kraftfahrzeuge, insbesondere unabhängige Radaufhängung für Personenkraftwagen
JP2001130427A (ja) * 1999-08-23 2001-05-15 Koyo Seiko Co Ltd 車両の操舵装置
FR2833233A1 (fr) * 2001-12-12 2003-06-13 Michelin Soc Tech Dispositif de suspension d'une roue

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PATENT ABSTRACTS OF JAPAN vol. 011, no. 347 (M - 641) 13 November 1987 (1987-11-13) *
PATENT ABSTRACTS OF JAPAN vol. 017, no. 316 (M - 1430) 16 June 1993 (1993-06-16) *
PATENT ABSTRACTS OF JAPAN vol. 017, no. 414 (M - 1456) 3 August 1993 (1993-08-03) *
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 22 9 March 2001 (2001-03-09) *

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Publication number Publication date
DE10330894A1 (de) 2005-02-10
WO2005005177A2 (de) 2005-01-20

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