+

EP1077849A1 - Procede pour la regulation de la stabilite de conduite d'un vehicule en fonction de la valeur demandee de patinage du pneu, ainsi que circuit approprie pour la mise en oeuvre du procede - Google Patents

Procede pour la regulation de la stabilite de conduite d'un vehicule en fonction de la valeur demandee de patinage du pneu, ainsi que circuit approprie pour la mise en oeuvre du procede

Info

Publication number
EP1077849A1
EP1077849A1 EP99924935A EP99924935A EP1077849A1 EP 1077849 A1 EP1077849 A1 EP 1077849A1 EP 99924935 A EP99924935 A EP 99924935A EP 99924935 A EP99924935 A EP 99924935A EP 1077849 A1 EP1077849 A1 EP 1077849A1
Authority
EP
European Patent Office
Prior art keywords
control
vehicle
value
yaw angle
determined
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP99924935A
Other languages
German (de)
English (en)
Inventor
Gerhard Fischle
Thorsten Herrmann
Matthias Baumann
Ralph Klingel
Joachim Jung
Mile Jokic
Carola Pfister
Ulrich LÜDERS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Continental Teves AG and 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 DaimlerChrysler AG, Continental Teves AG and Co OHG filed Critical DaimlerChrysler AG
Publication of EP1077849A1 publication Critical patent/EP1077849A1/fr
Withdrawn legal-status Critical Current

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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve

Definitions

  • the invention relates to a method for regulating the driving stability of a vehicle, in which the input variables essentially determined by the desired driving curve are converted into the target value of a yaw angle variable on the basis of a vehicle model defined by computing variables, and this is compared in a comparator with an actual value determined by means of a sensor the yaw rate is compared, the determined difference value being fed to a control system by calculating a torque amount which is used to determine pressure sizes which generate an additional yaw moment via the wheel brakes of the vehicle, which leads the measured yaw rate to the calculated yaw rate.
  • the method serves to create an additional torque through targeted interventions on individual brakes of the vehicle, which leads an actually measured yaw rate of the vehicle to a yaw rate given by a driver.
  • the control method intervenes in particular in a steering behavior of the vehicle if, due to external conditions, such as a slippery road surface, the occurrence of cross winds or changes in load changes, a path actually traveled by the vehicle cannot be brought into line with a path desired by the driver without additional torque can.
  • the invention further relates to a circuit suitable for carrying out the method.
  • the invention has for its object to carry out a generic control method depending on the rigidity of at least one tire of the vehicle.
  • this object is achieved in that the control method for controlling the driving stability of a vehicle, in which the input variables (g v ) essentially determined by the desired driving curve
  • the method according to the invention is preferably carried out by a system for driving stability control.
  • driving stability control ESP
  • various control principles are used to influence driving behavior - 3 -
  • ABS anti-lock braking system
  • ASR traction control
  • EBV electronic braking force distribution
  • GR yaw moment control
  • the yaw moment control shown can be combined in an overall system with one or more of the control and influencing principles mentioned.
  • the yaw moment control according to the invention can, however, also be combined with other suitable control strategies and, if appropriate, even implemented without these control strategies.
  • An integration of the yaw moment control into a control system which is capable of executing as many of the control strategies mentioned as possible, is particularly advantageous in a vehicle that is to meet high safety requirements.
  • German Offenlegungsschrift DE 195 15 050 AI Full reference is made to the examples and implementations carried out there.
  • the additional yaw moment is only generated when an entry threshold of a yaw rate controller is reached or exceeded.
  • the entry threshold of the yaw rate regulator depends on the rigidity of the tire.
  • Fig. 3 shows a maximum value limit kß of k.
  • the entry threshold of the yaw rate control is corrected by an additive correction value k if the following conditions are met:
  • the time derivative of the control difference is greater than 30 degrees / s and b) the sign of the control difference and its time derivative are the same
  • the threshold correction k is calculated in the following context:
  • kl - correction value dependent on lateral acceleration is k2 - a correction factor depending on the
  • Tire rigidity denotes and where k3 - a maximum value limitation of k (as a function of
  • the faulty adjustments are measured in particular in the central transverse acceleration range, so that the correction is only carried out in this range.
  • the dependence of the value kl on the lateral acceleration is assumed, as shown in FIG. 1.
  • the K value is influenced by its formation, both by the tire rigidity and by the current coefficient of friction. This is another important reason for hiding the correction in the lower lateral acceleration range.
  • a maximum value limit kß of k is shown.
  • a speed-dependent control of k makes sense.
  • Elements of this variant of the invention are the use of the K value of the ASR, the conditions for the threshold correction and the lateral acceleration dependency of the threshold correction. - 7th
  • K value tire slip requirement value
  • the current ⁇ is used to determine the K value. It is limited to a maximum of 1.5.
  • the K-value is learned when driving straight ahead.
  • the individual values are added up over a period of between 0.5 and 3 s and the K value averaged over this period is set as the new valid K value.

Landscapes

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

Abstract

L'invention concerne un procédé de régulation permettant de réguler la stabilité de conduite d'un véhicule, dans lequel les grandeurs d'entrée (υ,ξref) déterminées sensiblement par la courbe de roulement souhaitée sont converties, sur la base d'un modèle de véhicule déterminé par des grandeurs de calcul, en une valeur théorique (gS) d'une grandeur d'angle d'embardée, et cette valeur théorique (gS) est comparée dans un comparateur avec la valeur réelle (gI) de la grandeur d'angle d'embardée, déterminée au moyen d'un capteur. La valeur différentielle (gD) déterminée est acheminée à un système de régulation, une grandeur de couple (M) étant calculée, laquelle sert à déterminer des grandeurs de pression (Δp,p) produisant sur les freins de roues du véhicule un couple d'embardée supplémentaire qui ajoute la grandeur d'angle d'embardée mesurée à la grandeur d'angle d'embardée calculée. Ce procédé de régulation s'effectue en fonction d'une valeur K d'au moins un pneu du véhicule.
EP99924935A 1998-05-12 1999-05-11 Procede pour la regulation de la stabilite de conduite d'un vehicule en fonction de la valeur demandee de patinage du pneu, ainsi que circuit approprie pour la mise en oeuvre du procede Withdrawn EP1077849A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19821181 1998-05-12
DE19821181 1998-05-12
PCT/EP1999/003223 WO1999058381A1 (fr) 1998-05-12 1999-05-11 Procede pour la regulation de la stabilite de conduite d'un vehicule en fonction de la valeur demandee de patinage du pneu, ainsi que circuit approprie pour la mise en oeuvre du procede

Publications (1)

Publication Number Publication Date
EP1077849A1 true EP1077849A1 (fr) 2001-02-28

Family

ID=7867488

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99924935A Withdrawn EP1077849A1 (fr) 1998-05-12 1999-05-11 Procede pour la regulation de la stabilite de conduite d'un vehicule en fonction de la valeur demandee de patinage du pneu, ainsi que circuit approprie pour la mise en oeuvre du procede

Country Status (3)

Country Link
EP (1) EP1077849A1 (fr)
JP (1) JP2002514547A (fr)
WO (1) WO1999058381A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19919837A1 (de) * 1999-04-30 2000-11-09 Daimler Chrysler Ag Verfahren zum Eingriff in ein System zur Steuerung bzw. Regelung der Fahrdynamik eines Kraftfahrzeugs
DE10160049B4 (de) * 2000-12-30 2006-04-27 Robert Bosch Gmbh System und Vefahren zur Überwachung des Fahrverhaltens eines Kraftfahrzeugs
DE102006016769B3 (de) 2006-04-10 2007-10-31 Ford Global Technologies, LLC, Dearborn Verfahren zum Optimieren eines Einspurmodells
DE102007029605A1 (de) * 2007-06-27 2009-01-02 Daimler Ag Verfahren und Vorrichtung zum Beeinflussen der Querdynamik eines Fahrzeugs

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19515050A1 (de) 1994-11-25 1996-05-30 Teves Gmbh Alfred Verfahren zur Fahrstabilitätsregelschaltung mit Steuerung über Druckgradienten
DE19651968B4 (de) * 1996-12-13 2004-04-22 Continental Teves Ag & Co. Ohg Regelsystem für ein Fahrzeug mit gummibereiften Rädern

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9958381A1 *

Also Published As

Publication number Publication date
JP2002514547A (ja) 2002-05-21
WO1999058381A1 (fr) 1999-11-18

Similar Documents

Publication Publication Date Title
EP2040962B1 (fr) Procédé pour compenser la décélération de freinage lors d'une régulation d'un véhicule
EP1768888B1 (fr) Procede pour renforcer la tenue de route d'une automobile
EP1399344B1 (fr) Procede de regulation de la stabilite directionnelle d'un vehicule
DE60313562T2 (de) System zur Regelung des Verhaltens eines Kraftfahrzeuges
EP2512886B1 (fr) Procédé et système de freinage permettant d'influer sur le comportement dynamique en intervenant sur le freinage et l'entraînement
EP2327596B1 (fr) Limitation appuyée par la valeur de friction du couple d'un circuit de réglage d'un véhicule automobile
DE4123232A1 (de) Verfahren zur verhinderung von instabilitaeten des fahrverhaltens eines fahrzeuges
DE102007051590A1 (de) Verfahren zum Verteilen von Antriebs- oder Schleppmomenten auf die angetriebenen Räder eines Kfz
EP1089901A1 (fr) Circuit de regulation pour reguler la stabilite de roulement d'un vehicule sur la base d'un modele de reference de vehicule
EP1716029A1 (fr) Procede pour reguler une pression de freinage sur des voies de circulation entrainant des coefficients d'adherence non homogenes
EP1131235B1 (fr) Procede et dispositif de stabilisation d'un vehicule equipe d'un systeme de freinage a controle de glissement
DE69932464T2 (de) Regelungsprozess für das dynamische Verhalten eines Strassenfahrzeuges
DE19936786A1 (de) ESP-Regler für Kraftfahrzeuge
DE102004017845B4 (de) Verfahren zum Ermitteln des Giermoments
DE102008021532B4 (de) Vorrichtung und Verfahren zur Fahrzeugsteuerung
DE102005018519B4 (de) Verfahren zur Fahrdynamik-Regelung von Kraftfahrzeugen
DE102017203847A1 (de) Verfahren zur Schlupfregelung eines Fahrzeugs
EP1165353A1 (fr) Procede permettant de conserver l'effet du frein moteur
DE102009056674B4 (de) Vorrichtung und Verfahren zur Beeinflussung der Querdynamik eines Kraftfahrzeugs
EP2440439B1 (fr) Procédé de production d'un couple différentiel agissant sur les roues d'un véhicule
EP1799484B1 (fr) Procede et dispositif pour regler le degre de verrouillage d'un systeme de verrouillage de differentiel a commande electronique
WO1999058381A1 (fr) Procede pour la regulation de la stabilite de conduite d'un vehicule en fonction de la valeur demandee de patinage du pneu, ainsi que circuit approprie pour la mise en oeuvre du procede
DE102009008107B4 (de) Verfahren zur Bestimmung einer Regelgröße einer koordinierten Steuerung auf einer Split-Fahrbahnoberfläche unter Verwendung einer Verzögerung eines Fahrzeugs
WO2013064312A1 (fr) Procédé et dispositif permettant de faire fonctionner un véhicule automobile
DE10137273A1 (de) Verfahren und Vorrichtung zur Unterstützung des Fahrens eines Fahrzeugs während einer Bremsung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20001212

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): DE ES FR GB IT

17Q First examination report despatched

Effective date: 20010606

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: DAIMLERCHRYSLER AG

Owner name: CONTINENTAL TEVES AG & CO. OHG

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20011218

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载