WO2010020299A1 - Procédé et dispositif de réglage dynamique d'un véhicule - Google Patents

Procédé et dispositif de réglage dynamique d'un véhicule Download PDF

Info

Publication number
WO2010020299A1
WO2010020299A1 PCT/EP2009/003658 EP2009003658W WO2010020299A1 WO 2010020299 A1 WO2010020299 A1 WO 2010020299A1 EP 2009003658 W EP2009003658 W EP 2009003658W WO 2010020299 A1 WO2010020299 A1 WO 2010020299A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
control function
road
signal
optical sensor
Prior art date
Application number
PCT/EP2009/003658
Other languages
German (de)
English (en)
Inventor
Thomas Dieckmann
Ralf Koschorek
Tobias Munko
Original Assignee
Wabco Gmbh
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 Wabco Gmbh filed Critical Wabco Gmbh
Publication of WO2010020299A1 publication Critical patent/WO2010020299A1/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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/16—Off-road driving conditions

Definitions

  • the invention relates to a method for driving dynamics control of a vehicle. Furthermore, the invention relates to a device for vehicle dynamics control of a vehicle.
  • the document EP 0 475 010 B1 discloses a control system for a vehicle brake system that is protected against blocking, in which a special control logic ("off-road mode") can be switched on by the driver by means of an off-road switch.
  • a special control logic "off-road mode"
  • brake pressure is controlled in the wheel brake cylinder, and that until the wheel in question blocks.
  • the brake pressure then achieved is kept constant for a predetermined pressure maintenance phase. This results in locking phases of the wheels, which have a constant duration, and are about 240 milliseconds long.
  • the document DE 102 53 536 A1 discloses a further development of the control presented in EP 0 475 010 B1, in which ABS braking takes place only on the front wheels with a special off-road mode, in which the front wheels engage as a result of short locking phases can dig into the ground and thereby produce a high deceleration.
  • this regulation is not applied to the rear axle. Instead, the wheels of the rear axle are switched from the normal individual control (IR) to a select-low control (SLR) or to a modified axis control (MAR).
  • IR normal individual control
  • SLR select-low control
  • MAR modified axis control
  • the terrain mode can be switched on by the driver by means of an off-road switch. If the driver fails to activate the terrain switch, a non-optimal driving dynamics control of the vehicle is carried out in the area.
  • the invention has for its object to provide a method and an apparatus available, which ensure optimal control of the vehicle without driver intervention.
  • the invention solves this problem by the features specified in the claim 1 and claim 7.
  • the invention provides for the automatic adaptation of at least one control function based on the signal of an optical sensor to the nature of a roadway.
  • the signal of the optical sensor is detected and the nature of the roadway is determined on the basis of the signal (eg paved roadway or terrain).
  • the control function is then automatically adapted to the condition of the road.
  • control function z. B an ABS control (anti-skid control), such.
  • an ESC control or an ESP control Electronic Stability Control or Electronic Stability Program
  • an ASR traction control system
  • an SMR drag torque control
  • Under a device according to claim 7 is z.
  • a control device as used for ABS or ESC control to understand.
  • the device can also be divided into several existing in the vehicle control units. The device may be used to carry out the methods described in claims 1 to 6.
  • the invention differs in that the adjustment of the control function to the nature of the roadway is done automatically based on the signal of an optical sensor. As a result, a driver intervention to adapt the control function to the condition of the roadway is no longer required and it is automatically used for each road condition optimal control, whereby the safety of the vehicle against critical / unstable driving conditions is increased.
  • the invention further comprises a vehicle system for carrying out a method according to one of claims 1 to 6, a vehicle system having a device according to one of claims 7 to 12 and a vehicle having a device according to one of claims 7 to 12.
  • FIG. 1 shows a schematic representation of a vehicle, which has an optical sensor for determining the condition of the roadway
  • FIG. 2 shows a flowchart of the method according to the invention
  • 3 shows a flow chart of a specific embodiment of the method according to the invention
  • FIG. 4 shows a schematic block diagram of an anti-lock brake system for a wheel with an electronic and pneumatic part
  • FIG. 5 diagrams of the wheel speed, the control signals of
  • ABS control function and brake pressure over time for off-road operation are important
  • FIG. 1 shows a schematic illustration of a vehicle which has an optical sensor 20 for detecting the condition of a roadway 30.
  • the optical sensor 20 is mounted on the front of the vehicle.
  • the signal of the optical sensor 20 is detected by a control unit 2 that is electrically connected to the optical sensor 20 and the nature of the roadway 30 is determined on the basis of the signal.
  • at least one control function such. As an ABS control function, adapted to the nature of the roadway 30.
  • the controller has means 21 for detecting the signal of the optical sensor 20, means 22 for determining the nature of the roadway 30 and means 23 for adapting the at least one control function to the nature of the roadway 30.
  • These means 21, 22, 23 may, for. B. be realized as part of a computer program product. It is also conceivable that these means 21, 22, 23 or a part of these means are part of the optical sensor 20.
  • the control unit 2 is electrically connected to not shown in Figure 1 solenoid valves for acting on brake actuators and other existing in the vehicle control units.
  • the adaptation of the at least one control function to the condition of the roadway 30 can thus influence the activation of the brake actuators.
  • the sensor device 20 used in the document EP 1 606 784 B1 is used as the optical sensor.
  • This sensor device comprises a light source for emitting light to the surface, that is, in this application, the roadway 30, and a first and a second detector for receiving the reflected light from the surface and control means for receiving and evaluating the received from the detectors Light up.
  • the sensor device has a first linear polarization filter between the light source and the surface and a second linear polarization filter between the surface and the first detector or the second detector.
  • the optical sensor 20 operates in the infrared range.
  • FIG. 2 shows a flow chart of the method according to the invention.
  • a step S1 the signal of the optical sensor 20 is detected.
  • the condition of the roadway 30 is determined.
  • at least one control function is adapted to the condition of the roadway 30 in the step S3.
  • branch back to S1 and the process is repeated.
  • a driver intervention by the automatic adaptation of the control function to the condition of the roadway 30 is no longer required and it is automatically used for each road condition optimal control. This increases the safety of the vehicle against critical / unstable driving conditions.
  • FIG. 3 shows a special variant of the method according to the invention in which two cases are distinguished with off-road operation or operation of the vehicle on a paved roadway 30.
  • a step S1 the signal of the optical sensor 20 is detected.
  • step S2 the condition of the roadway 30 is determined.
  • step S3 it is checked in step S3 whether there is an off-road operation. If off-road operation is detected, At least one control function is adapted to off-road operation in step S4. So z. B. an ABS control function or an ESC control function are automatically turned off when detected off-road operation.
  • step S4 when the off-road operation is detected, short-term blocking phases of the wheels 12 are generated below a first predetermined vehicle speed and above a second predetermined vehicle speed. From step S4, reference is made to step S1 for re-running the method.
  • step S5 If there is no off-road operation, an operation on a paved road 30 is detected and adapted in step S5 at least one control function to operate on a paved roadway 30. So z. B. an ABS control function or an ESC control function are automatically turned on. The step S5 is referred back to the step S1 for re-running the method.
  • FIG. 4 schematically shows a block diagram of a channel for a wheel 12 of a known anti-lock braking system (ABS) for a vehicle.
  • ABS anti-lock braking system
  • the electronic part of the ABS consists of a wheel speed sensor 1, which scans the rotational behavior of the vehicle wheel 12.
  • the signals of the sensor 1 are supplied to the control unit 2 and digitized there in a signal processing stage.
  • acceleration signals + b, deceleration signals -b and slip signals ⁇ are formed from the wheel speed signals.
  • a vehicle reference speed V R ⁇ (which is simulated with the aid of the speeds of the remaining wheels is necessary.) This is followed by a logic step in which the control signal mentioned above is followed. len driving signals for a solenoid valve 3 are formed. A safety circuit monitors the drive signals for error-freedom.
  • control device comprises a power amplifier, which serves to amplify the solenoid valve control signals.
  • the o. G. Steps and the power amplifier are integrated in the control unit. They are not shown in FIG.
  • control device comprises the control device means 21 for detecting the signal of the optical sensor 20, means 22 for determining the condition of the roadway 30, means 23 for adapting the at least one control function to the nature of the roadway 30, means 24 for automatically switching off an ABS Control function and / or an ESC control function in the case of recognized off-road operation, means 25 for the automatic activation of an ABS control function and / or an ESC control function when the vehicle returns to a paved roadway and a means 26 which, when the terrain is detected Operation generates below a first predetermined vehicle speed and above a second predetermined vehicle speed short-term blocking phases of the wheels.
  • These means 21, 22, 23, 24, 25, 26 may, for. B. be realized as part of a computer program product.
  • a detected off-road operation is indicated by an ABS signal lamp 7 connected to the controller. This is preferably driven alternately in off-road operation (flashing mode).
  • the pneumatic or hydraulic part of the anti-lock brake system consists of a pressure medium reservoir 4, a driver brake valve 5, the ABS control solenoid valve 3 and a brake cylinder 6.
  • solenoid valve 3 can be independent of the operation of the brake valve.
  • 5 be controlled by the driver pressure medium in the brake cylinder 6 or vented in impending blockage on the solenoid valve 3 and thereby causes a reduction in pressure.
  • the magnetic til 3 usually has three positions in which the pressure can either be increased, maintained or lowered.
  • control signals wheel acceleration + b, wheel deceleration -b and wheel slip ⁇ are plotted over time t.
  • the brake pressure pB of the braked wheel is plotted over the time t.
  • the vehicle is in an ABS-controlled braking process in the field.
  • the inventive method automatically the off-road operation.
  • the braked wheel decelerates so much that a -b signal occurs.
  • the brake pressure is increased rapidly. This is in contrast to normal ABS braking on a paved roadway 30, where the brake pressure is rapidly dissipated when a -b signal occurs.
  • the rapid brake pressure increase brings the vehicle wheel 12 to block (time t2). At this moment, of course, the -b signal falls off.
  • the brake pressure reached at time t2 is now maintained at the level reached over a constant time of about 120 ms until time t3. Subsequently, the brake pressure is reduced rapidly in the period t3 to t4. The locking of the vehicle wheel 12 lasts until time t4 (240 ms in total). Due to the rapid reduction of the brake pressure, the wheel 12 then runs on presentation of a ⁇ signal back to. This creates a + b signal. In the period t4 to t5, the vehicle wheel 12 has started again up to full speed (vehicle speed). The + b signal therefore drops again. At the latest from this point in time t5, the brake pressure is first slowly increased again in steps (pulsed).
  • the increased brake pressure is sufficient to retard the wheel 12 so much that a -b signal occurs.
  • the full brake pressure is again controlled, which quickly leads to the blocking of the wheel 12 at time t7.
  • the brake pressure is then kept constant again for the already mentioned time of about 120 ms.
  • the control processes already described (time t8 to t11) repeat.
  • the slip signal ⁇ occurs as soon as the wheel speed has dropped below the vehicle speed by a predetermined amount.
  • the adaptation of the ABS control function described above to off-road operation is permitted only below a vehicle speed of approximately 40 km / h. If the off-road operation is already detected at higher speeds, the control unit 2 automatically adapts the ABS control function to the off-road operation at the limit speed of approx. 40 km / h.
  • an inserted differential longitudinal lock between the front and rear axles of the vehicle during off-road operation is not separated. This provides benefits especially during braking during a descent. In this case, it may happen that the braking force which is reduced by an ALB governor (load-dependent braking) at the rear axle is not sufficient for the short-term locking of the rear wheels, whereby the desired wedge formation in front of the rear wheels would be omitted. For this reason, a braking force coupling from the front axle to the rear axle in contrast to a normal road ABS braking is desired here.
  • an ABS warning light 7 is emitted at intervals, i. H. activated in the flashing mode.
  • the driver is made aware that the vehicle wheels 12 can briefly enter a locked state, so that he can set his driving style on it.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention porte sur un procédé pour la régulation dynamique d'un véhicule, dans lequel le signal d'un capteur optique (20) est détecté et, à l'aide du signal, on détermine l'état d'une chaussée (30), au moins une fonction de régulation étant automatiquement adaptée à l'état de la chaussée (30). En outre, l'invention porte sur un dispositif de régulation dynamique d'un véhicule à l'aide d'un moyen (21) de détection du signal d'un capteur optique (20) et d'un moyen (22) de détermination de l'état d'une chaussée (30) à l'aide du signal du capteur optique (20), et d'un moyen (23) d'adaptation automatique d'au moins une fonction de régulation à l'état de la chaussée (30).
PCT/EP2009/003658 2008-08-16 2009-05-22 Procédé et dispositif de réglage dynamique d'un véhicule WO2010020299A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810038037 DE102008038037A1 (de) 2008-08-16 2008-08-16 Verfahren und Vorrichtung zur fahrdynamischen Regelung eines Fahrzeugs
DE102008038037.7 2008-08-16

Publications (1)

Publication Number Publication Date
WO2010020299A1 true WO2010020299A1 (fr) 2010-02-25

Family

ID=40935242

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/003658 WO2010020299A1 (fr) 2008-08-16 2009-05-22 Procédé et dispositif de réglage dynamique d'un véhicule

Country Status (2)

Country Link
DE (1) DE102008038037A1 (fr)
WO (1) WO2010020299A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010025719A1 (de) 2010-06-30 2012-05-16 Wabco Gmbh Vorrichtung und Verfahren zur Ausgabe eines Signals bei gefährlichem Untergrund unter einem Fahrzeug
DE102011015510A1 (de) * 2010-06-30 2012-01-05 Wabco Gmbh Verfahren und Vorrichtung zur Steuerung einer Traktionshilfe eines Fahrzeuges
DE102011015509A1 (de) * 2010-06-30 2012-01-05 Wabco Gmbh Verfahren und Vorrichtung zur Steuerung zumindest eines Fahrerassistenzsystems eines Fahrzeuges und damit ausgestattetes Fahrzeug
GB2492953A (en) 2011-07-13 2013-01-23 Land Rover Uk Ltd Vehicle control system and method employing output from an imaging device
DE102013016087A1 (de) * 2013-09-27 2015-04-02 Wabco Gmbh Verfahren und System zur Steuerung eines elektronischen Bremssystems

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3841333A1 (de) * 1988-12-08 1990-06-13 Porsche Ag Verfahren und vorrichtung zur ueberwachung eines zustands einer fahrbahn
DE19855332A1 (de) * 1998-12-01 2000-06-08 Daimler Chrysler Ag Verfahren und Vorrichtung zum Bestimmen von Kraftschluß und Kraftschlußgrenze bei Fahrzeugreifen
DE19932094A1 (de) * 1999-07-09 2001-01-25 Daimler Chrysler Ag Multisensorielle, vorausschauende Straßenzustandserkennung
US20050140207A1 (en) * 2003-12-29 2005-06-30 Bendix Commercial Vehicle Systems Llc ABS control system for off-road driving conditions
EP1635163A2 (fr) * 2004-09-09 2006-03-15 Volkswagen Aktiengesellschaft Dispositif pour déterminer la condition de la surface d'une chaussée
DE102006024617A1 (de) * 2006-05-26 2007-11-29 Volkswagen Ag Antiblockiersystem, insbesondere für geländegängige Fahrzeuge

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4027785A1 (de) 1990-09-03 1992-03-05 Wabco Westinghouse Fahrzeug Regellogik fuer eine blockiergeschuetzte fahrzeugbremsanlage
DE10253536A1 (de) 2002-11-16 2004-05-27 Wabco Gmbh & Co. Ohg ABS-Regellogik mit Gelände-Modul
US7652584B2 (en) 2003-03-14 2010-01-26 Liwas Aps Device for detection of surface condition data

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3841333A1 (de) * 1988-12-08 1990-06-13 Porsche Ag Verfahren und vorrichtung zur ueberwachung eines zustands einer fahrbahn
DE19855332A1 (de) * 1998-12-01 2000-06-08 Daimler Chrysler Ag Verfahren und Vorrichtung zum Bestimmen von Kraftschluß und Kraftschlußgrenze bei Fahrzeugreifen
DE19932094A1 (de) * 1999-07-09 2001-01-25 Daimler Chrysler Ag Multisensorielle, vorausschauende Straßenzustandserkennung
US20050140207A1 (en) * 2003-12-29 2005-06-30 Bendix Commercial Vehicle Systems Llc ABS control system for off-road driving conditions
EP1635163A2 (fr) * 2004-09-09 2006-03-15 Volkswagen Aktiengesellschaft Dispositif pour déterminer la condition de la surface d'une chaussée
US20060076495A1 (en) * 2004-09-09 2006-04-13 Volkswagen Ag Device for determining the surface condition of a roadway
DE102006024617A1 (de) * 2006-05-26 2007-11-29 Volkswagen Ag Antiblockiersystem, insbesondere für geländegängige Fahrzeuge

Also Published As

Publication number Publication date
DE102008038037A1 (de) 2010-02-18

Similar Documents

Publication Publication Date Title
EP0475010B1 (fr) Logique de régulation pour une installation de freinage de véhicule, protégée contre le blocage
EP1399344B1 (fr) Procede de regulation de la stabilite directionnelle d'un vehicule
EP2144794B1 (fr) Procédé de fonctionnement d'un système de freinage de véhicule et système de freinage de véhicule
DE3644139C2 (fr)
EP1334017B1 (fr) Procede pour reguler la stabilite de conduite d'un vehicule
EP1404553B1 (fr) Procede permettant de modifier le systeme de regulation de la stabilite directionnelle d'un vehicule
EP3365205B1 (fr) Procédé de commande de freins
WO2010020299A1 (fr) Procédé et dispositif de réglage dynamique d'un véhicule
EP2590845B1 (fr) Procédé de détermination d'une vitesse de référence de véhicule et système de freinage
DE102011077153B4 (de) Verfahren zum Modifizieren einer Fahrstabilitätsregelung eines Fahrzeugs und Elektronisches Steuergerät
EP1045783A1 (fr) Dispositif et procede pour limiter la vitesse de roulement en arriere d'un vehicule automobile
EP2029404B1 (fr) Système antiblocage, destiné en particulier à des véhicules tout terrain
EP1156952B1 (fr) Dispositif et procede de regulation du glissement de roues apres detection d'un derapage
EP1419946B1 (fr) Logique de réglage ABS comportant un module tous terrains
DE102008027093B4 (de) Technik zum Betreiben einer Bremsanlage in einer μ-Split-Situation
EP1070623B1 (fr) Méthode de régulation antipatinage
EP1472124B1 (fr) Procede de regulation de la traction de roues d'au moins un essieu moteur, soumises au patinage
DE102010039823A1 (de) Verfahren und Vorrichtung zur Antriebsschlupfregelung eines Einspurfahrzeugs
DE10316253B4 (de) Verfahren zum Modifizieren einer Fahrstabilitätsregelung eines Fahrzeugs
DE19920617A1 (de) Verfahren zum Aufrechterhalten der Motorbremswirkung
DE19620585B4 (de) Verfahren zur elektronischen Bremskraftverteilung
DE10253261B4 (de) Verfahren zum Abbremsen eines Kraftfahrzeugs bei variierenden Fahrbahn-Reibverhältnissen und Vorrichtung hierfür
DE102004021374B4 (de) Traktionsregler mit Vorsteuereinrichtung
DE102013013381A1 (de) Verfahren zum Betrieb einer Bremsvorrichtung eines Fahrzeugs
DE102006038512A1 (de) Vorrichtung zum Verkürzen des Bremsweges eines Fahrzeugs

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09776641

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09776641

Country of ref document: EP

Kind code of ref document: A1