WO2016023815A1 - Procédé et dispositif permettant de faire fonctionner un attelage - Google Patents

Procédé et dispositif permettant de faire fonctionner un attelage Download PDF

Info

Publication number
WO2016023815A1
WO2016023815A1 PCT/EP2015/068179 EP2015068179W WO2016023815A1 WO 2016023815 A1 WO2016023815 A1 WO 2016023815A1 EP 2015068179 W EP2015068179 W EP 2015068179W WO 2016023815 A1 WO2016023815 A1 WO 2016023815A1
Authority
WO
WIPO (PCT)
Prior art keywords
pendulum
movement
intervention
towing vehicle
trailer
Prior art date
Application number
PCT/EP2015/068179
Other languages
German (de)
English (en)
Inventor
Markus Beisswenger
Benjamin Baust
Thomas Haeussler
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2016023815A1 publication Critical patent/WO2016023815A1/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
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • 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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60T2230/06—Tractor-trailer swaying

Definitions

  • the invention relates to a method of operating a trailer consisting of a towing vehicle and at least one trailer articulated to the towing vehicle, wherein the trailer is monitored for oscillatory motions, and wherein upon detecting a pendulum movement through at least one of the lateral dynamics the team is counteracted by engaging the pendulum movement influencing the team.
  • the invention relates to a device for the corresponding operation of a team, a computer program and a computer program product.
  • Modern braking systems make it possible to counteract uncontrolled or undesired pendulum movements of the trailer by performing wheel-specific braking interventions on the wheels of the trailer in teams that consist of a towing vehicle and at least one articulated trailer connected thereto.
  • Steering angle sensors, yaw rate sensors or the like to detect the commuting of a trailer coupled to a vehicle using appropriate waveforms.
  • Exceeds the pendulum motion or the waveform a predetermined amount so a stabilization program is activated, which through the aforementioned wheel-specific braking interventions, the team back into a stable state spends.
  • the entire team is stabilized via a symmetrical deceleration, that is to say by a speed reduction of the team, and optionally by superimposed asymmetrical, thus wheel-specific braking interventions.
  • the asymmetric braking interventions are usually realized as a manipulated variable of a yaw rate control and provided via the wheels associated wheel brake.
  • the pendulum motion can be suppressed, and in particular that usually present dead times of the actuators of the wheel brake are taken into account or compensated. While usually a time delay between the request of a
  • the time delay is compensated by the inventive method or compensated so far, so that a pendulum motion is stabilized quickly and efficiently. According to the invention, it is provided for this purpose that, depending on a currently detected pendulum movement, a pendulum extension movement is predicted and in
  • the pendulum movement can be predicted on the assumption that the pendulum motion is a sinusoidal oscillation. Preferably, depending on the detected
  • Oscillation or pendulum motion ie in particular as a function of the vibration amplitude and the frequency of the current pendulum motion predicts the pendulum movement.
  • Pendulum further movement is based, the optimal time is determined at which the requirement for the at least one
  • Pendulum extension movement of the pendulum movement corresponds. This can be a initial approximation or estimation of the pendulum-wide movement. Alternatively, it is preferably provided that the pendulum extension movement in dependence on the current pendulum motion and the assumption
  • a wheel-individual braking intervention - as already mentioned - a steering intervention and / or a differential gear engagement are performed as an intervention.
  • Oscillation can be counteracted by an automatic steering intervention, brake intervention or differential gear engagement in an advantageous manner.
  • the respective intervention is carried out automatically and, due to the method according to the invention, can take place more quickly than before.
  • the pendulum extension movement is determined as a function of a time which requires a braking device for carrying out a wheel-specific brake intervention upon receipt of a braking request. This time can be determined for the respective brake system in a simple manner by appropriate tests and then be based on the method. It is provided that the pendulum extension movement is in particular predicted by at least the time determined. Similarly, is also preferred in the
  • the pendulum extension movement is in particular predicted by at least this determined time.
  • Pendulum reference movement is set.
  • the pendulum reference movement ensures that the movement of the trailer is not a movement desired by the driver of the towing vehicle. It is preferably provided that the pendulum reference movement in
  • the steering angle of the towing vehicle is usually detected by an ESP system anyway, the consideration of the thus detected pendulum reference movement is not a large overhead.
  • the pendulum reference movement is also predicted, the prediction of the pendulum reference movement in particular depending on the current
  • Steering angle is determined.
  • Pendulum reference movement of the current pendulum reference movement equated, if it can be assumed that in the time in which the
  • Pendulum motion of the trailer is detected, the steering angle of the towing vehicle is not or hardly changed.
  • the device according to the invention with the feature of claim 5 is characterized by a specially prepared control device, which is designed for carrying out the method according to the invention. This results from the already mentioned advantages when using the control unit in one
  • Team consisting of a towing vehicle and at least one articulated trailer.
  • the computer program according to the invention with the features of claim 6 is characterized in that it performs all the steps of the inventive method when it runs on a computer.
  • the inventive computer program product is characterized according to
  • Characteristics of claim 7 by a program code stored on a machine-readable carrier for carrying out the method according to the invention when the program is executed on a computer.
  • a program code stored on a machine-readable carrier for carrying out the method according to the invention when the program is executed on a computer.
  • FIG. 1 shows an exemplary embodiment of a method for operating a
  • the single FIGURE shows in a simplified representation a method for operating a team, which has a towing vehicle and at least one trailer connected to the towing vehicle.
  • the trailer is suitably articulated to the towing vehicle and is in contact with at least two wheels of at least one axle with a roadway.
  • Each wheel of the towing vehicle, which is also in contact with the roadway, is assigned an individually operable wheel brake device.
  • the team has a device that serves to increase the stability of the team.
  • the device is designed to dampen the pendulum motion when the trailer has begun to oscillate in an uncontrolled manner.
  • the device which in particular has a control unit or is designed as a control unit, performs the method shown in FIG.
  • a pendulum reference motion is detected.
  • a future pendulum reference movement is predicted in a step Sl.
  • the pendulum reference movement is determined at a time t + ⁇ .
  • ⁇ corresponds in particular to the dead time of the controlled system or the time delay between a change in the request to one of the
  • the predicted pendulum reference movement is compared to a projected pendulum movement.
  • the latter becomes a step S2 in FIG.
  • the towing vehicle is monitored for pendulum movements in a step S3. This can be done for example by means of a yaw rate sensor or one or more
  • a (t) denotes the time-variable amplitude of the oscillation
  • ( ⁇ ) the frequency of the oscillation.
  • the vibration behavior predicts or a
  • Pendulum movement be predicted.
  • the pendulum reference motion is easy to determine for the nominal trailer pitch case.
  • Pendulum further movement is achieved that a downstream controller for operating the Radbrems wornen in a step S4 already at the time (t) can calculate and request the time required for the time (t + ⁇ ) manipulated variable. This makes it possible, any route dead times directly in the

Landscapes

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

Abstract

L'invention concerne un procédé permettant de faire fonctionner un attelage, constitué d'un tracteur comprenant au moins une remorque reliée de manière articulée au tracteur, des mouvements pendulaires de la remorque étant surveillés, et, lors de la détection d'un mouvement pendulaire, au moins une intervention influençant la dynamique transversale de l'attelage s'opposant au mouvement pendulaire. Selon l'invention, en fonction d'un mouvement pendulaire actuellement détecté, un mouvement pendulaire supplémentaire est pronostiqué et l'intervention ou les interventions sont réglées en fonction du mouvement pendulaire supplémentaire.
PCT/EP2015/068179 2014-08-14 2015-08-06 Procédé et dispositif permettant de faire fonctionner un attelage WO2016023815A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014216183.5A DE102014216183A1 (de) 2014-08-14 2014-08-14 Verfahren und Vorrichtung zum Betreiben einers Gespanns
DE102014216183.5 2014-08-14

Publications (1)

Publication Number Publication Date
WO2016023815A1 true WO2016023815A1 (fr) 2016-02-18

Family

ID=54011689

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/068179 WO2016023815A1 (fr) 2014-08-14 2015-08-06 Procédé et dispositif permettant de faire fonctionner un attelage

Country Status (2)

Country Link
DE (1) DE102014216183A1 (fr)
WO (1) WO2016023815A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10032230A1 (de) * 2000-07-03 2002-01-17 Werner Rudolf Frie Verfahren zur Stabilisierung von schlingernden Gespannen
WO2002006101A1 (fr) * 2000-07-13 2002-01-24 Robert Bosch Gmbh Procede et dispositif pour stabiliser un vehicule routier
WO2004041612A1 (fr) * 2002-11-08 2004-05-21 Continental Teves Ag & Co.Ohg Procede et systeme de stabilisation d'un attelage
WO2004041613A1 (fr) * 2002-11-08 2004-05-21 Continental Teves Ag & Co.Ohg Procede et systeme de stabilisation d'un attelage
EP1516792A1 (fr) * 2003-09-18 2005-03-23 Robert Bosch Gmbh Methode et dispositif pour prendre en considération la réaction au volant du conducteur pour la stabilisation d'un ensemble tracteur-remorque
WO2007060135A1 (fr) * 2005-11-22 2007-05-31 Continental Teves Ag & Co. Ohg Procede et systeme de regulation dynamique du roulage en vue de la stabilisation d'un attelage

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10032230A1 (de) * 2000-07-03 2002-01-17 Werner Rudolf Frie Verfahren zur Stabilisierung von schlingernden Gespannen
WO2002006101A1 (fr) * 2000-07-13 2002-01-24 Robert Bosch Gmbh Procede et dispositif pour stabiliser un vehicule routier
WO2004041612A1 (fr) * 2002-11-08 2004-05-21 Continental Teves Ag & Co.Ohg Procede et systeme de stabilisation d'un attelage
WO2004041613A1 (fr) * 2002-11-08 2004-05-21 Continental Teves Ag & Co.Ohg Procede et systeme de stabilisation d'un attelage
EP1516792A1 (fr) * 2003-09-18 2005-03-23 Robert Bosch Gmbh Methode et dispositif pour prendre en considération la réaction au volant du conducteur pour la stabilisation d'un ensemble tracteur-remorque
WO2007060135A1 (fr) * 2005-11-22 2007-05-31 Continental Teves Ag & Co. Ohg Procede et systeme de regulation dynamique du roulage en vue de la stabilisation d'un attelage

Also Published As

Publication number Publication date
DE102014216183A1 (de) 2016-02-18

Similar Documents

Publication Publication Date Title
EP1954537B1 (fr) Procede et systeme de regulation dynamique du roulage en vue de la stabilisation d'un attelage
DE102015220901A1 (de) Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs
DE10327593A1 (de) System zum Erfassen von Fahrzeug-Global-Lage und Fahrzeug-Relativ-Lage unter Verwendung von Aufhängungshöhensensoren
DE102018130664B4 (de) Benachrichtigung über zahnstangenbegrenzungsbedingungen für steer-by-wire-lenksysteme
WO2011085865A1 (fr) Procédé pour le contrôle de couplage d'une remorque pouvant être couplée avec un véhicule tracteur et unité d'appareil électronique correspondante
EP1562808B1 (fr) Procede et systeme de stabilisation d'un attelage
EP1279584A1 (fr) Commande électrique de direction assistée électrique, supprimant les vibrations dûes au freinage
EP3697651B1 (fr) Système de freinage automatique d'un véhicule et procédé permettant le freinage automatique d'un véhicule
EP3464004B1 (fr) Procédé et dispositif de régulation de la dynamique longitudinale d'un véhicule à moteur pendant un processus de conduite autonome
DE102007043912A1 (de) Verfahren für die Steuerung eines Fahrerassistenzsystems
DE102016221565B4 (de) Verfahren zum Unterscheiden zwischen gewollten Lenkbewegungen eines Fahrers zur Beeinflussung eines gewollten Fahrpfades eines Kraftfahrzeuges von Korrekturlenkbewegungen des Fahrers als Reaktion auf unerwartete Abweichungen des Kraftfahrzeuges vom gewollten Fahrpfad sowie maschinenlesbarer Datenträger
DE10360732A1 (de) Vorrichtung und Verfahren zur Kippverhinderung für ein Fahrzeug
DE10324278A1 (de) Neigungsregelungsvorrichtung und Verfahren zur Neigungsregelung eines Fahrzeugs
DE102013225586A1 (de) Verfahren und Vorrichtung zur Bewertung der Fahrbahnbeschaffenheit
EP2261096B1 (fr) Procédé destiné à l'identification du conducteur dans un véhicule
DE102013008943A1 (de) Verfahren zur Fahrerassistenz bei Glätte und Lenkungssystem
DE102005028153B4 (de) Verfahren zur Steuerung einer Lenkeinrichtung
WO2016023815A1 (fr) Procédé et dispositif permettant de faire fonctionner un attelage
DE102015217256A1 (de) Verfahren und Vorrichtung zur Durchführung eines Notbremsvorgangs bei einem einspurigen Kraftfahrzeug
WO2010142496A1 (fr) Procédé de production d'un couple différentiel agissant sur les roues d'un véhicule
EP2496451B1 (fr) Procede de determination d'une valeur limite d'un parametre d'un vehicule en cas d'accident
EP4114700A1 (fr) Procédé pour la direction d'un véhicule
DE102016005230A1 (de) Verfahren zum Betrieb eines Fahrzeuges
DE102009001508A1 (de) Verfahren zur Stabilisierung eines Fahrzeugs
DE102013110149A1 (de) Steuern einer Lenkung in einem Kraftfahrzeug

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: 15756361

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: 15756361

Country of ref document: EP

Kind code of ref document: A1