WO2005047047A1 - Verfahren zur verbesserung einer folge- und abstandsregelung - Google Patents
Verfahren zur verbesserung einer folge- und abstandsregelung Download PDFInfo
- Publication number
- WO2005047047A1 WO2005047047A1 PCT/EP2004/052936 EP2004052936W WO2005047047A1 WO 2005047047 A1 WO2005047047 A1 WO 2005047047A1 EP 2004052936 W EP2004052936 W EP 2004052936W WO 2005047047 A1 WO2005047047 A1 WO 2005047047A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- brake
- control
- pressure
- brake pressure
- distance control
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 9
- 230000009467 reduction Effects 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
Classifications
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
-
- 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
- B60K31/0008—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 means for detecting potential obstacles in vehicle path
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
Definitions
- the invention relates to methods for improving a sequence and distance control.
- active cruise control systems which means follow-up and distance control, also known as ACC, AICC or ICC
- ACC follow-up and distance control
- AICC advanced ICC
- ABS anti-lock braking system
- ESP vehicle dynamics control
- the object of the invention is to increase the comfort and safety of a sequence and distance control.
- follow-up and distance controls or speed controls with follow-up and / or distance control functions are called “follow-up and distance controls” or “ACC” for short.
- AICC or ICC but also includes all subordinate cruise control systems such as cruise control.
- the object is achieved in that a system reaction of an electronic brake control system of the vehicle to a brake pressure request of the sequence and distance control takes place relatively slowly.
- the ranges are also being increased and the response times are being extended. This can further increase the comfort of the control.
- the system reaction takes place more slowly than when the brake pressure is requested by the electronic brake control system.
- the system reaction to a brake pressure request of the sequence and distance control takes place so slowly that a resulting maximum pressure build-up or pressure reduction rate is not exceeded.
- the resulting maximum pressure build-up or pressure reduction rate is in a range from 5 bar / s to 20 bar / s.
- the object is also achieved in that the brake control is planned in advance for a longer period of time, preferably for the period of an entire braking operation, in response to a brake pressure request from the sequence and distance control.
- a brake pressure resulting therefrom is not set in advance when planning the brake control every time a program of the electronic brake control system runs.
- an average brake pressure (brake pressure integral) is determined when planning the brake control and that a resulting brake pressure is set in accordance with the brake pressure integral.
- the average brake pressure is determined for a period of 1 sec to 5 sec.
- the time period is variably set in accordance with a height or an increase gradient of the brake pressure request of the sequence and distance control.
- the object is also achieved by a method for improving a sequence and distance control, which is characterized in that a function module of the sequence and distance control calculates a deceleration and / or torque request, which is implemented by a pressure controller of the electronic brake control. that if from the sequence and distance control an object is detected which is a
- Speed adjustment requires a corresponding deceleration or a deceleration torque is calculated, which is required to set a minimum distance, and that the corresponding deceleration or deceleration torque is set in accordance with a comfortable regulation.
- a vehicle has an ACC system and an electronic brake control (EBS unit).
- EBS unit electronic brake control
- An ACC function module of the ACC system calculates a delay and / or torque request, which is implemented by the corresponding pressure regulator of the EBS unit. If an object is detected by the ACC system that requires a speed adjustment, a corresponding delay (moment) is calculated, which is necessary to set the distance. This delay (moment) is not set as quickly as possible, but in the most comfortable way possible.
- the engine torque of the drive motor of the vehicle is first reduced. If the corresponding deceleration (torque) is not achieved by reducing the engine torque, an active brake pressure build-up is also required.
- a setpoint / actual value comparison is carried out to determine a suitable brake pressure.
- a suitable brake pressure for the requested brake pressure and the brake pressure or wheel brake pressure measured or simulated by a model Every loop (program run of the EBS program), ie within a certain time, calculates a control deviation. This deviation is used as a requirement for controlling the actuator system to build up a pressure in the wheel brakes.
- the setpoint values for the brake pressure are preferably determined from filtered deceleration specifications (moments) of the ACC function module.
- the specifications change slowly and also change the printing requirements.
- the method according to the invention does not change the requirements in relatively short time intervals, but plans the brake pressure setting for a longer period, preferably for an entire braking process. It is assumed that the ACC requirements change only slowly.
- a brake pressure integral is calculated on the basis of preferably 1 to 5 seconds (sec), which is required to set the desired deceleration (torque).
- each change in the ACC specification is not converted to an instantaneous change in the brake pressure request, but a brake pressure request is predetermined for a longer period.
- the method according to the invention harmonizes the brake pressure requirement and thus also increases the comfort of the brake control.
- the time base of the brake integral is preferably changed depending on the height or the gradient of the ACC specification. Very high specifications and / or high rise gradients reduce the time base in order to enable a sufficiently quick system reaction if, for example, a recognized driving situation is to be avoided. This increases the comfort of the system.
- 1 shows a plot of vehicle accelerations a against time t.
- Fig. 2 shows a plot of pressures P a ⁇ t in the brake system without the inventive brake control planning in advance against the time t.
- FIG 3 shows a plot of pressures P new in the brake system with a planning of the brake control according to the invention in advance against the time t.
- FIG. 1 shows a target acceleration a sol ⁇ , which results, for example, from the request for an ACC. This results in a brake control on this request without planning a vehicle acceleration with several "overshoots" I, II, II according to the curve ai St , a ⁇ .
- the regulation according to the invention results in a vehicle acceleration corresponding to the curve ai St , now with only one "overshoot” IV, then the actual acceleration ai St , slowly approaches the desired target acceleration. This improves the control comfort of the system.
- Fig. 2 shows an application of pressures P alt in the brake system without the brake control planning according to the invention in advance. From the specification of the target acceleration a so ⁇ , a target pressure P ⁇ so ait i m brake system generates the AIST the "overshoot" corresponding to the vehicle acceleration, ait FIG.
- the setting of the target pressure P so ⁇ can also lead to a resulting actual pressure Pi S t, ait, regei, which shows additional vibrations due to the pressure control of the vehicle brakes. These pressure fluctuations make vehicle acceleration a even more difficult to regulate. Driving comfort is further deteriorated.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006538865A JP2007512996A (ja) | 2003-11-14 | 2004-11-12 | 追従間隔制御を改良する方法 |
EP04818422A EP1687172A1 (de) | 2003-11-14 | 2004-11-12 | Verfahren zur verbesserung einer folge- und abstandsregelung |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10353334 | 2003-11-14 | ||
DE10353334.6 | 2003-11-14 | ||
DE102004048493A DE102004048493A1 (de) | 2003-11-14 | 2004-10-05 | Verfahren zur Verbesserung einer Folge- und Abstandregelung |
DE102004048493.7 | 2004-10-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005047047A1 true WO2005047047A1 (de) | 2005-05-26 |
Family
ID=34593366
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/052936 WO2005047047A1 (de) | 2003-11-14 | 2004-11-12 | Verfahren zur verbesserung einer folge- und abstandsregelung |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1687172A1 (de) |
JP (1) | JP2007512996A (de) |
KR (1) | KR20060109907A (de) |
WO (1) | WO2005047047A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005063343C5 (de) * | 2005-06-24 | 2019-07-11 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zur Erhöhung der Fahrstabilität eines Fahrzeugs |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19654769A1 (de) * | 1996-12-30 | 1998-07-02 | Teves Gmbh Alfred | Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung |
DE19926744A1 (de) * | 1998-06-11 | 1999-12-23 | Honda Motor Co Ltd | Bremssteuerungssystem für ein Fahrzeug |
DE10021135A1 (de) * | 2000-04-29 | 2001-10-31 | Bayerische Motoren Werke Ag | Verfahren und Vorrichtung zur Regelung einer vorgegebenen Soll-Verzögerung eines Kraftfahrzeugs |
-
2004
- 2004-11-12 EP EP04818422A patent/EP1687172A1/de not_active Withdrawn
- 2004-11-12 KR KR1020067009367A patent/KR20060109907A/ko not_active Application Discontinuation
- 2004-11-12 JP JP2006538865A patent/JP2007512996A/ja active Pending
- 2004-11-12 WO PCT/EP2004/052936 patent/WO2005047047A1/de active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19654769A1 (de) * | 1996-12-30 | 1998-07-02 | Teves Gmbh Alfred | Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung |
DE19926744A1 (de) * | 1998-06-11 | 1999-12-23 | Honda Motor Co Ltd | Bremssteuerungssystem für ein Fahrzeug |
DE10021135A1 (de) * | 2000-04-29 | 2001-10-31 | Bayerische Motoren Werke Ag | Verfahren und Vorrichtung zur Regelung einer vorgegebenen Soll-Verzögerung eines Kraftfahrzeugs |
Non-Patent Citations (1)
Title |
---|
WINNER ET AL: "Adaptive Cruise Control System Aspects and Development Trends", SAE TRANSACTIONS, SOCIETY OF AUTOMOTIVE ENGINEERS, INC., WARRENDALE, PA, US, vol. 105, no. 961010, 1996, pages 1412 - 1421, XP002124577, ISSN: 0096-736X * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005063343C5 (de) * | 2005-06-24 | 2019-07-11 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zur Erhöhung der Fahrstabilität eines Fahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
JP2007512996A (ja) | 2007-05-24 |
KR20060109907A (ko) | 2006-10-23 |
EP1687172A1 (de) | 2006-08-09 |
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