WO2017092990A1 - Procédé et système pour influencer le comportement de freinage d'un véhicule - Google Patents

Procédé et système pour influencer le comportement de freinage d'un véhicule Download PDF

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Publication number
WO2017092990A1
WO2017092990A1 PCT/EP2016/077093 EP2016077093W WO2017092990A1 WO 2017092990 A1 WO2017092990 A1 WO 2017092990A1 EP 2016077093 W EP2016077093 W EP 2016077093W WO 2017092990 A1 WO2017092990 A1 WO 2017092990A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
wheel
wheel load
wheels
friction
Prior art date
Application number
PCT/EP2016/077093
Other languages
German (de)
English (en)
Inventor
Jörg Kock
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2017092990A1 publication Critical patent/WO2017092990A1/fr

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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
    • B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
    • 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
    • B60G17/0164—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 accelerating or braking
    • 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
    • B60G17/0195—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 the regulation being combined with other vehicle control 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
    • 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
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
    • B60T2240/06—Wheel load; Wheel lift
    • 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
    • B60T2260/06—Active Suspension System

Definitions

  • the present invention relates to a method for influencing the braking behavior of a vehicle according to the preamble of claim 1 and to a corresponding system.
  • Blockiergeregelt wherein the brake of the running on the higher coefficient of friction rear wheel is acted upon only with the same comparatively low brake pressure, as the brake of the running on the lower coefficient of friction further rear wheel.
  • DE 39 25 828 AI an ABS control system with GMB (yaw moment limitation) known that measures the pressure applied by the driver to control the pressure on the right and left wheels to determine the pressure difference. About a comparison of the target pressure with the actual pressure, the permissible pressure difference is determined and reduced when exceeding a predetermined pressure difference of the brake pressure at the other wheel via a control pulse.
  • DE 41 14 734 AI describes an ABS control system with GMB, which does not require pressure sensors. Here is going out continuously
  • Pressure Decay signals a value representing the pressure difference on two opposite wheels determined.
  • the average pressure increase gradient of the wheel with high friction to the ground in dependence on the pressure difference ⁇ or the pressure difference reproducing value and the vehicle deceleration is varied.
  • a weighting is made which initially takes the course of the brake system-related pressure reduction gradient more steeply and then more flatly with an asymptotic approximation to zero.
  • the object of the invention is to provide an alternative or supplementary method by means of which the vehicle stability during braking, in particular in the case of ⁇ -split conditions, can be maintained or improved.
  • the invention describes a method for influencing the braking behavior of a vehicle, during which during a
  • An active division of the wheel load of wheels of at least one of the axles of the vehicle is made in such a way that an influencing of the braking power of the wheels takes place.
  • an active division means, in particular, a controlled influence, e.g. by means of a suitable device of the vehicle, understood, the division of the wheel loads of the wheels of a single axis in all proportions in the range 100%: 0% over 50%: 50% to 0%: 100% is possible.
  • the Bremskraftbeiwert a wheel is calculated from the ratio of braking force to wheel load or RadaufStandskraft, it is possible due to the allocation of the wheel loads the braking power of the wheels in an advantageous manner to actively influence, for example, with larger wheel load a greater braking force to obtain a same Bremskraftbeihongs can be applied.
  • the inventive method can thus be used advantageously for influencing the stability and / or the braking distance and / or the direction of movement when braking a vehicle.
  • the vehicle stability during braking can be maintained or improved by the invention.
  • the braking distance can be shortened by the invention.
  • the method according to the invention is in addition to methods for vehicle stabilization used, which are realized for example on the basis of the influence of the brake pressure.
  • the active division of the wheel load on at least one axis of the vehicle on a wheel which has a greater coefficient of friction in conjunction with a substrate than a wheel of the same axis, which has a lower coefficient of friction in connection with the ground.
  • a wheel which has a greater coefficient of friction in conjunction with a substrate than a wheel of the same axis, which has a lower coefficient of friction in connection with the ground.
  • the braking power of a wheel depends not only on the wheel load but also on the coefficient of friction of this wheel to the ground.
  • the active division of the wheel load is particularly preferably by means of active stabilizers for roll stabilization and / or by means of an active spring system.
  • the active division of the wheel load based on a first axis of the vehicle, on the wheel, which has a larger coefficient of friction in conjunction with a substrate, and on a second axis, a division of the wheel load on the wheels in such a way that a torque is generated about a longitudinal axis of the vehicle, which results from a distribution of the wheel load of the first axis. torque around the longitudinal axis of the vehicle
  • the longitudinal axis is merely fictitious.
  • the torque resulting from the division of the wheel load on the first axis about the longitudinal axis and the torque resulting from the division of the wheel load on the second axis about the longitudinal axis are dimensioned such that they preferably substantially cancel each other out.
  • a roll of the vehicle can be completely avoided. Since usually the torque is not detected as such, is to be understood in this sense that in particular the division of the wheel load takes place in such a way that there is no resulting rotation about the roll, pitch and / or yaw axis.
  • a resulting total torque, in particular roll and / or yaw moment, of defined size should remain, for example when a straight-line braking due to a
  • a dynamic division or, in the further course, redistribution of the wheel loads can also be expediently carried out in order to be able to react adaptively to changing conditions, such as changing friction values or traffic situations.
  • the wheel with a lower coefficient of friction to the ground is subjected to a higher wheel load than the wheel with a higher coefficient of friction to the ground.
  • the wheel which has a higher coefficient of friction to the ground and is loaded with a higher wheel load than the other arranged on the same axis wheel, is preferably at Rear axle arranged and at the front of the vehicle, the opposing torque is generated.
  • the first axis designated as such is preferably the rear axle and the second axle designated as such the front axle of the vehicle.
  • the yaw stability during braking can thus be maintained or improved to a particular degree. A shortening of the braking distance is thus feasible.
  • the wheel load is distributed to the wheels of the vehicle in such a way that a sum of the wheel load on one side of the vehicle essentially corresponds to a sum of the wheel load on the other side of the vehicle.
  • the distribution of the wheel load to the wheels of the vehicle is such that a sum of the wheel load on a side of the vehicle having a lower coefficient of friction of the wheels to the ground substantially equal to a sum of the wheel load on one side of the vehicle with higher Friction coefficient of the wheels to the ground corresponds. This can be effectively responded to ⁇ -split conditions and a linear braking without loss of vehicle stability can be achieved.
  • the driver can thus better retain control of the vehicle for such problematic braking situations.
  • the invention relates to a system for influencing the stability and / or the braking distance and / or the movement ⁇ direction when braking a vehicle, comprising at least one means for actively dividing the wheel load of a vehicle and a control device for operating the means for active division of Wheel load of the wheels, which is characterized in that an active spring system or active stabilizers ⁇ stabilizers for roll stabilization is provided as the at least one means for actively sharing the wheel load of the wheels, wherein the system is configured for carrying out a method according to at least one of the preceding claims ,
  • FIG. 1 shows a schematic representation of a vehicle 1 for explaining the method according to the invention, by means of which an improvement in vehicle stability during braking, in particular on substrates with different coefficient of friction to the wheels of the two sides of the vehicle can be realized.
  • the wheels of the vehicle are designated by the reference numerals 2.1 to 2.4.
  • the vehicle on the front axle VA an active stabilizer 3.1 and on the rear axle HA an active stabilizer 3.2 for roll stabilization.
  • the direction of movement of the vehicle is displayed.
  • a braking of a vehicle upon detection of a ⁇ -split condition or the occurrence of an unintended yaw movement of the vehicle or a corresponding yaw moment as a result of braking, by means of the active stabilizers 3.1 and 3.2 according to the invention a different distribution of the wheel load the wheels 2.1 to 2.4, wherein the division of the load, based on an axis of the vehicle, so the front or the rear axle, preferably on the wheel, which rolls on the ground with a larger coefficient of friction ⁇ ⁇ .
  • the 1 embodiment is on the left side of the vehicle 1, a low coefficient of friction y L and on the right side of a high coefficient of friction ⁇ ⁇ of the wheels 2.1 to 2.4 to the ground, wherein at the rear axle HA of the vehicle 1 the Radlast is applied by means of stabilizer 3.2 on the wheel 2.4 with the larger coefficient of friction ⁇ ⁇ to the ground.
  • the wheel load on the wheel 2.4 is thus 400 N and on the wheel 2.3 0 N, which corresponds to a lifting of the wheel from the ground.
  • the maximum potential of the high frictional side ⁇ ⁇ can thus be utilized for braking, for example. From this distribution of forces results in a torque M H A about the longitudinal axis L of the vehicle, which would lead to a roll of the vehicle about the longitudinal axis L.
  • Rear axle opposite torque generated M V A which preferably cancel each other substantially.
  • This is achieved in the example in that the wheel 2.1 is acted upon by means of the stabilizer 3.1 with a lower coefficient of friction y L to the ground with a wheel load of 800 N and the wheel 2.2 with higher coefficient of friction ⁇ ⁇ with a wheel load of 400 N.
  • On the left and the right side in the direction of movement of the vehicle or on the side with lower coefficient of friction y L and higher coefficient of friction ⁇ ⁇ is the sum of Wheel loads of the respective front wheel and the respective rear wheel substantially equal and is each about 800 N.
  • the wheel is preferably loaded on the rear axle with a higher wheel load, which has a higher coefficient of friction to the ground, and applied to the front axle, the corresponding counter-torque.
  • a higher wheel load which has a higher coefficient of friction to the ground
  • the corresponding counter-torque is applied, is alternatively provided in the context of the invention.
  • Brake control a lower braking force than the potentially possible can be spent, but this is overcompensated due to the increased potential braking force on 2.4 wheel.
  • the explained with reference to FIG. 1 embodiment of he ⁇ inventive method refers in particular to a situation in which the vehicle ge in ⁇ -split condition ge ⁇ decelerated or slowed down to a standstill.
  • the coefficients of friction of the ground to the respective wheel 2.1 to 2.4 can change greatly in the course of a braking operation, which is the case in particular due to a changing background.
  • This may be provided in particular to support the functionality of a brake control of a braking system of the vehicle.
  • ⁇ -split conditions There is no restriction on situations with ⁇ -split conditions. For example, a condition also takes place at a straight- capita braking without ⁇ -split, the splitting of the wheel load on the wheels of the vehicle in such a manner that a sum of the wheel load on one side of the vehicle We ⁇ sentlichen a sum of the wheel load on the other side corresponds to the vehicle, in addition, the wheels of the same axis have substantially the same wheel loads. In this way, the vehicle stability with respect to a straight-line braking can be maintained. Conveniently, the wheel load at the front axle is higher than at the rear axle.
  • a braking of the vehicle is actively caused by the yaw axis (yaw) by the division of the wheel load takes place in such a way that the sums of the wheel loads differ on both sides of the vehicle.
  • yaw yaw axis
  • alter ⁇ natively or in addition a division of the wheel load by means of a active spring system, such as hydraulic, pneumatic or electrical type can be achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Vehicle Body Suspensions (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé pour influencer le comportement de freinage d'un véhicule, procédé selon lequel une distribution active de la charge des roues (2.1, 2.2, 2.3, 2.4) d'au moins l'un des essieux du véhicule est effectuée pendant une opération de freinage de telle sorte que le pouvoir de freinage des roues est influencé. L'invention concerne en outre un système correspondant.
PCT/EP2016/077093 2015-11-30 2016-11-09 Procédé et système pour influencer le comportement de freinage d'un véhicule WO2017092990A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015223666.8 2015-11-30
DE102015223666.8A DE102015223666A1 (de) 2015-11-30 2015-11-30 Verfahren und System zur Beeinflussung des Bremsverhaltens eines Fahrzeugs

Publications (1)

Publication Number Publication Date
WO2017092990A1 true WO2017092990A1 (fr) 2017-06-08

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Application Number Title Priority Date Filing Date
PCT/EP2016/077093 WO2017092990A1 (fr) 2015-11-30 2016-11-09 Procédé et système pour influencer le comportement de freinage d'un véhicule

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DE (1) DE102015223666A1 (fr)
WO (1) WO2017092990A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19808673A1 (de) * 1997-09-30 1999-04-01 Daimler Benz Ag Bremskraft-Steuerungssystem für ein Straßenfahrzeug
EP0992373A2 (fr) * 1998-10-09 2000-04-12 Robert Bosch Gmbh Système et méthode pour raccourcir la distance de freinage et améliorer la traction dans des véhicules automobiles
US20020109309A1 (en) * 1998-10-09 2002-08-15 Armin Schulke System and method for reducing stopping distance and improving traction in motor vehicles
DE102006017823A1 (de) * 2006-04-13 2007-10-18 Daimlerchrysler Ag System zur Beeinflussung des Fahrverhaltens eines Fahrzeuges
DE102008003901A1 (de) * 2008-01-10 2009-07-16 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Einstellung der Radlasten an einem zweispurigen zweiachsigen Kraftfahrzeug
WO2012084465A1 (fr) * 2010-12-22 2012-06-28 Renault S.A.S. Procede et dispositif de controle d'un vehicule automobile en situation de freinage avec adherence asymetrique

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3925828C2 (de) 1989-08-04 1999-04-15 Bosch Gmbh Robert Antiblockierregelsystem
DE4114734A1 (de) 1991-05-06 1992-11-12 Teves Gmbh Alfred Schaltungsanordnung fuer eine bremsanlage mit elektronischer blockierschutzregelung
DE4225983C2 (de) 1992-08-06 2002-03-14 Bosch Gmbh Robert Verfahren zur Bremsung von Fahrzeugrädern
DE102009007357B4 (de) * 2009-02-04 2024-01-18 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Ansteuerung eines aktiven Fahrwerks eines zweiachsigen zweispurigen Kraftfahrzeugs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19808673A1 (de) * 1997-09-30 1999-04-01 Daimler Benz Ag Bremskraft-Steuerungssystem für ein Straßenfahrzeug
EP0992373A2 (fr) * 1998-10-09 2000-04-12 Robert Bosch Gmbh Système et méthode pour raccourcir la distance de freinage et améliorer la traction dans des véhicules automobiles
US20020109309A1 (en) * 1998-10-09 2002-08-15 Armin Schulke System and method for reducing stopping distance and improving traction in motor vehicles
DE102006017823A1 (de) * 2006-04-13 2007-10-18 Daimlerchrysler Ag System zur Beeinflussung des Fahrverhaltens eines Fahrzeuges
DE102008003901A1 (de) * 2008-01-10 2009-07-16 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Einstellung der Radlasten an einem zweispurigen zweiachsigen Kraftfahrzeug
WO2012084465A1 (fr) * 2010-12-22 2012-06-28 Renault S.A.S. Procede et dispositif de controle d'un vehicule automobile en situation de freinage avec adherence asymetrique

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