WO2011076457A1 - Reduzieren des lenkmoments bei bremsmanövern - Google Patents
Reduzieren des lenkmoments bei bremsmanövern Download PDFInfo
- Publication number
- WO2011076457A1 WO2011076457A1 PCT/EP2010/065881 EP2010065881W WO2011076457A1 WO 2011076457 A1 WO2011076457 A1 WO 2011076457A1 EP 2010065881 W EP2010065881 W EP 2010065881W WO 2011076457 A1 WO2011076457 A1 WO 2011076457A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- braking force
- steering angle
- rear wheels
- braked
- Prior art date
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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of 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
- 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
-
- 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
-
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
-
- 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
- B60T2230/08—Driving in reverse
-
- 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
Definitions
- the invention relates to a method for reducing the steering torque in a motor vehicle in a driving situation in which the vehicle is braked and steered simultaneously.
- Servo motor of a power steering can be designed as a result for lower Maximai performance and smaller dimensions.
- the braking force on the front wheels is at least partially reduced or set smaller than in one
- the braking force is increased comparatively. Thereby, the total braking force is at least partially shifted from the front wheels to the rear wheels, and the front wheels are relieved, which in turn leads to a reduction of the steering torque to the front wheels.
- the braking force on the rear wheels is preferably set larger than on the front wheels.
- the vehicle can be braked only on the rear brakes.
- the braking force is increased at the rear wheel brakes; the front wheels remain completely or essentially unbraked.
- Such maneuvers can z. B. be detected by monitoring the wheel speed sensors.
- Rear brakes should preferably be performed only if the
- Vehicle is actively steered, so a steering angle change takes place.
- a braking maneuver in which the steering angle remains constant such.
- Steering angle change can be detected for example by means of a steering angle sensor.
- a speed threshold for example 20 km / h or less, can be set, which is used to trigger the
- the sum of the braking forces should correspond to the total braking force in standard mode and thus not affect the driver's expected deceleration of the vehicle.
- FIG. 1 is a flowchart of a method for reducing the steering torque on the front wheels of a vehicle.
- Fig. 2 shows the course of the steering angle, speed and brake pressure at the front and rear wheels in a maneuver "turning in three moves".
- FIG. 1 is a simplified flowchart of a method for reducing the steering torque on the front wheels of a vehicle.
- Front wheels compared to a standard braking maneuver i.e.
- step S1 it is first checked in step S1 whether the vehicle speed v is less than a predefined threshold value v 0 , z. B. 20 km / h or less. In addition, it can be determined whether the vehicle is moving forwards or backwards. If the velocity v is less than the threshold v 0 , it is checked in step S2 whether the temporal
- Step S2 Steering angle change is greater than a predetermined threshold. Otherwise, the process branches back to start. If the temporal steering angle change in step S2 is greater than the threshold value, it is still checked in step S3 whether the brake pedal is actuated. This can be done by means of a conventional
- step S4 a distinction is made between forward and reverse travel based on the wheel speed sensors.
- Case S5 relates to a driving situation in which the vehicle is moving in the forward direction (v> 0) while being braked, and the driver starts to steer at a certain time to turn, for example.
- the braking force is reduced at the front brakes and on the
- Rear brakes increased. The change of the braking forces takes place braking torque neutral, so that the deceleration of the vehicle is not affected.
- Case S6 relates to a driving situation in which the vehicle is backing up (v ⁇ 0), e.g. B. in the second phase of a turning maneuver in three moves. In this case, the braking force on the rear wheel brakes is increased; the front wheels remain completely or essentially unbraked.
- the steering torque can be reduced at the front wheels compared to a braking in standard mode.
- Fig. 2 shows the time course of the steering angle 5 L , the vehicle speed v, the brake pressure p v at the front wheels and the brake pressure p H at the rear wheels during a turning maneuver in three trains
- the vehicle is braked from the straight ahead, with all wheel brakes operated become.
- the steering angle 5 L increases linearly, as can be seen on the curve 1.
- the brake pressure p v at the front wheels is completely reduced (see section 5 of characteristic curve 3) and the brake pressure at the rear wheels increased accordingly (see section 6 of characteristic curve 4).
- the total braking torque remains constant.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10771086A EP2516225A1 (de) | 2009-12-21 | 2010-10-21 | Reduzieren des lenkmoments bei bremsmanövern |
JP2012545171A JP5554843B2 (ja) | 2009-12-21 | 2010-10-21 | ブレーキ操作時の操舵トルクの低減方法 |
US13/517,902 US8768592B2 (en) | 2009-12-21 | 2010-10-21 | Reducing the steering torque during braking maneuvers |
CN201080058250.0A CN102652085B (zh) | 2009-12-21 | 2010-10-21 | 减小制动操纵时的转向力矩 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009055059.3A DE102009055059B4 (de) | 2009-12-21 | 2009-12-21 | Reduzieren des Lenkmoments bei Bremsmanövern |
DE102009055059.3 | 2009-12-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011076457A1 true WO2011076457A1 (de) | 2011-06-30 |
Family
ID=43384618
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2010/065881 WO2011076457A1 (de) | 2009-12-21 | 2010-10-21 | Reduzieren des lenkmoments bei bremsmanövern |
Country Status (7)
Country | Link |
---|---|
US (1) | US8768592B2 (de) |
EP (1) | EP2516225A1 (de) |
JP (1) | JP5554843B2 (de) |
KR (1) | KR20120106958A (de) |
CN (1) | CN102652085B (de) |
DE (1) | DE102009055059B4 (de) |
WO (1) | WO2011076457A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2995858A1 (fr) * | 2012-09-26 | 2014-03-28 | Renault Sas | Procede de freinage d'un vehicule automobile |
WO2019063312A1 (de) * | 2017-09-28 | 2019-04-04 | Volkswagen Aktiengesellschaft | Verfahren zum einstellen oder zur regelung eines bremsdrucks in einer hydraulischen bremsanlage eines kraftfahrzeugs, vorrichtung und kraftfahrzeug |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102781742B (zh) * | 2010-03-04 | 2014-12-24 | 本田技研工业株式会社 | 车辆的转弯控制装置 |
US10266201B2 (en) * | 2015-11-19 | 2019-04-23 | Agjunction Llc | K-turn path controller |
US10414388B2 (en) | 2016-03-22 | 2019-09-17 | Ford Global Technologies, Llc | Systems for distributing braking force and related methods |
WO2017217256A1 (ja) * | 2016-06-15 | 2017-12-21 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
US9975529B2 (en) * | 2016-08-09 | 2018-05-22 | Ford Global Technologies, Llc | Performance electric parking brake controllers |
DE102022118674A1 (de) | 2022-07-26 | 2024-02-01 | Audi Aktiengesellschaft | Verfahren zum Betrieb eines Kraftfahrzeugs, Kraftfahrzeug sowie Computerprogrammprodukt |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4141875A1 (de) * | 1990-12-21 | 1992-06-25 | Nissan Motor | Steuersystem fuer die verteilung von bremskraeften auf die vorder- und die hinterraeder eines kraftfahrzeugs |
US6183048B1 (en) * | 1997-11-05 | 2001-02-06 | Toyota Jidosha Kabushiki Kaisha | Brake control device of automobile for sharp braking in backward movement |
WO2009010588A1 (de) * | 2007-07-19 | 2009-01-22 | Continental Teves Ag & Co. Ohg | Verfahren zur vermeidung von lenkraddrehschwingungen |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62255285A (ja) * | 1986-04-30 | 1987-11-07 | Mazda Motor Corp | 自動車の操舵装置 |
JPS6357175U (de) * | 1986-10-03 | 1988-04-16 | ||
JP3496266B2 (ja) | 1994-03-15 | 2004-02-09 | トヨタ自動車株式会社 | ブレーキシステム |
DE19836017A1 (de) | 1998-08-10 | 2000-02-17 | Bayerische Motoren Werke Ag | Verfahren zur Bemessung der Bremskraft |
JP3463622B2 (ja) * | 1999-09-14 | 2003-11-05 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
DE102004003886B4 (de) | 2004-01-27 | 2019-12-24 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Bemessen der Bremskraft an den lenkbaren Vorderrädern eines im wesentlichen stillstehenden Kraftfahrzeugs |
DE102004022892A1 (de) * | 2004-05-10 | 2005-12-08 | Adam Opel Ag | Verfahren zum Ausgleichen einer dynamischen Achslastverlagerung |
DE102006055765A1 (de) | 2006-07-03 | 2008-01-31 | Continental Teves Ag & Co. Ohg | Verfahren zum Betrieb einer kombinierten Fahrzeugbremsanlage |
TW200813133A (en) | 2006-07-18 | 2008-03-16 | Showa Denko Kk | Transparent antireflection plate |
JP5086943B2 (ja) * | 2008-09-02 | 2012-11-28 | 本田技研工業株式会社 | 車両用操舵装置 |
-
2009
- 2009-12-21 DE DE102009055059.3A patent/DE102009055059B4/de active Active
-
2010
- 2010-10-21 CN CN201080058250.0A patent/CN102652085B/zh active Active
- 2010-10-21 EP EP10771086A patent/EP2516225A1/de not_active Withdrawn
- 2010-10-21 JP JP2012545171A patent/JP5554843B2/ja active Active
- 2010-10-21 WO PCT/EP2010/065881 patent/WO2011076457A1/de active Application Filing
- 2010-10-21 KR KR1020127015946A patent/KR20120106958A/ko not_active Application Discontinuation
- 2010-10-21 US US13/517,902 patent/US8768592B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4141875A1 (de) * | 1990-12-21 | 1992-06-25 | Nissan Motor | Steuersystem fuer die verteilung von bremskraeften auf die vorder- und die hinterraeder eines kraftfahrzeugs |
US6183048B1 (en) * | 1997-11-05 | 2001-02-06 | Toyota Jidosha Kabushiki Kaisha | Brake control device of automobile for sharp braking in backward movement |
WO2009010588A1 (de) * | 2007-07-19 | 2009-01-22 | Continental Teves Ag & Co. Ohg | Verfahren zur vermeidung von lenkraddrehschwingungen |
Non-Patent Citations (1)
Title |
---|
See also references of EP2516225A1 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2995858A1 (fr) * | 2012-09-26 | 2014-03-28 | Renault Sas | Procede de freinage d'un vehicule automobile |
WO2019063312A1 (de) * | 2017-09-28 | 2019-04-04 | Volkswagen Aktiengesellschaft | Verfahren zum einstellen oder zur regelung eines bremsdrucks in einer hydraulischen bremsanlage eines kraftfahrzeugs, vorrichtung und kraftfahrzeug |
Also Published As
Publication number | Publication date |
---|---|
US20120330525A1 (en) | 2012-12-27 |
US8768592B2 (en) | 2014-07-01 |
DE102009055059B4 (de) | 2023-02-02 |
JP2013514930A (ja) | 2013-05-02 |
EP2516225A1 (de) | 2012-10-31 |
JP5554843B2 (ja) | 2014-07-23 |
CN102652085B (zh) | 2015-11-25 |
CN102652085A (zh) | 2012-08-29 |
KR20120106958A (ko) | 2012-09-27 |
DE102009055059A1 (de) | 2011-06-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2516225A1 (de) | Reduzieren des lenkmoments bei bremsmanövern | |
WO2017001045A1 (de) | Kraftfahrzeug für ein pilotiertes fahren mit einem vorderachslenksystem und einem hinterachslenksystem | |
DE102010030486B4 (de) | Verfahren zum halbautomatischen Einparken eines Kraftfahrzeuges sowie ein Einparksystem | |
DE102012200178B4 (de) | Verfahren zum Betreiben einer mechanischen Feststellbremse | |
EP3727965B1 (de) | Verfahren zur stabilisierung einer fahrzeugkombination | |
EP2065291A1 (de) | Verfahren zum Betrieb einer Überlagerungslenkung für ein Kraftfahrzeug | |
WO2012136721A1 (de) | Rollrichtungsbasiertes parkassistenzsystem | |
EP0992373A2 (de) | System und Verfahren zur Bremswegverkürzung und Traktionsverbesserung bei Kraftfahrzeugen | |
DE102018200180A1 (de) | Verfahren zur Ermittlung des Reibwerts zwischen einem Fahrzeugrad und der Fahrbahn | |
DE10332023A1 (de) | Verfahren zum Bestimmen eines Lenkmoments für eine Lenkung eines Fahrzeugs | |
WO2009124614A1 (de) | Verfahren zum beeinflussen der querdynamik eines fahrzeugs | |
EP1104371B1 (de) | Verfahren zur bemessung der bremskraft | |
EP2349797A1 (de) | Verfahren zur einstellung eines bremssystems eines fahrzeugs | |
DE102004003886B4 (de) | Verfahren zum Bemessen der Bremskraft an den lenkbaren Vorderrädern eines im wesentlichen stillstehenden Kraftfahrzeugs | |
DE102010046472A1 (de) | Fahrzeuglenksystem, Verfahren zum Betreiben eines Fahrzeuglenksystems, Einparkhilfe für ein Fahrzeug sowie Kraftfahrzeug | |
DE102004060030A1 (de) | Verfahren zum Zurückstellen eines Lenkrades in seine Ausgangsstellung und zur Bestimmung des Rückstellmomentes | |
WO2017097681A1 (de) | Verfahren zur aktiven lenkunterstützung bei festgefahrenem fahrzeug und steuergerät | |
DE60107151T2 (de) | Verfahren und Vorrichtung zur Bremskraftregelung eines Kraftfahrzeugs | |
EP3214035B1 (de) | Verfahren zum betrieb eines flurförderzeugs | |
DE102021133270A1 (de) | Differenzialbremsen zum erhöhen einer lateralen ausweichmanöverfähigkeit | |
WO2021197694A1 (de) | Verfahren sowie kraftfahrzeug | |
WO2019145168A1 (de) | Verfahren und vorrichtung zur ansteuerung der bremsen eines stillstehenden oder in den stillstand kommenden kraftfahrzeugs | |
WO2006117064A1 (de) | Verfahren zum betreiben eines assistenzsystems für ein fahrzeug sowie einparkhilfesystem | |
DE102019106695A1 (de) | Steuerungssystem und Verfahren zur Steuerung des Antriebs- und Bremssystems eines Kraftfahrzeugs | |
DE102017001663A1 (de) | Verfahren zum Einleiten von Kompensationsmaßnahmen bei einem Ausfall eines Lenkunterstützungssystems eines Kraftfahrzeugs |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080058250.0 Country of ref document: CN |
|
REEP | Request for entry into the european phase |
Ref document number: 2010771086 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010771086 Country of ref document: EP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10771086 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 20127015946 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012545171 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13517902 Country of ref document: US |